JP7115100B2 - carrier - Google Patents

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JP7115100B2
JP7115100B2 JP2018139282A JP2018139282A JP7115100B2 JP 7115100 B2 JP7115100 B2 JP 7115100B2 JP 2018139282 A JP2018139282 A JP 2018139282A JP 2018139282 A JP2018139282 A JP 2018139282A JP 7115100 B2 JP7115100 B2 JP 7115100B2
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wheels
steering
driven
wheel
load
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JP2020015403A (en
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吉洋 岡嵜
修 松本
晴行 山口
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Nakanishi Metal Works Co Ltd
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Nakanishi Metal Works Co Ltd
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Priority to CN201910678921.6A priority patent/CN110775879B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Handcart (AREA)

Description

本発明は、倉庫や工場内で荷を搬送するローリフト型の搬送車に関わり、さらに詳しくは、物流台車の搬送に好適な搬送車に関する。 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a low-lift type transport vehicle for transporting cargo in warehouses and factories, and more particularly to a transport vehicle suitable for transporting a physical distribution trolley.

倉庫や工場内で荷を搬送する、床面レベルにあるパレット等をフォークにて若干持ち上げてそのまま床面上を搬送するローリフト型の搬送車がある（例えば、特許文献１及び２参照）。
特許文献１の搬送車は、基台２に設けた、１つの操舵駆動輪１、及び２つの補助輪１２，１２、並びに左右のフォーク４，４の先端部に設けた従動輪５，５を備えるとともに、基台２の内部中央に、前輪である操舵駆動輪１と後輪である従動輪５，５との間に設けた、左右のフォーク４，４を昇降させる昇降装置６を備える。
特許文献２の第１図、第２図及び第４図の搬送車は、本体フレーム１１に設けた、１つの操舵駆動輪２９、及び２つの補助輪３９，３９、並びに左右のフォーク部１３，１３の先端部に設けた従動輪２２，２２を備えるとともに、本体フレーム１１の後部に、前輪である操舵駆動輪２９と後輪である従動輪２２，２２との間に設けた、左右のフォーク部１３，１３を昇降させる昇降装置（フォーク昇降用の油圧シリンダ１９等）を備える。 2. Description of the Related Art There is a low-lift type transport vehicle that transports cargo in a warehouse or a factory by slightly lifting a pallet or the like on the floor level with a fork and transporting it on the floor surface (see, for example, Patent Documents 1 and 2).
The transport vehicle of Patent Document 1 has one steerable drive wheel 1 and two auxiliary wheels 12, 12 provided on a base 2, and driven wheels 5, 5 provided at the tips of left and right forks 4, 4. In addition, an elevating device 6 for elevating left and right forks 4, 4 is provided in the center of the base 2 between the steerable drive wheel 1 as the front wheel and the driven wheels 5, 5 as the rear wheels.
1, 2, and 4 of Patent Document 2 include one steering drive wheel 29, two auxiliary wheels 39, 39, and left and right fork portions 13, Left and right forks provided at the rear portion of the body frame 11 between the steering drive wheel 29 as the front wheel and the driven wheels 22 as the rear wheels. A lifting device (such as a hydraulic cylinder 19 for fork lifting) for lifting and lowering the parts 13, 13 is provided.

一方、倉庫や工場内では、搬送、配送、又は保管を行う物流台車（例えば、非特許文献１ないし３参照）が広く用いられている。スリムな物流台車を用いることにより、物流台車に物品を積載した状態、又は物流台車から物品を降ろした空荷の状態で、その物流台車を人が手押ししながら狭い通路を移動できる。
このような物流台車を前記ローリフト型の搬送車で搬送する場合、前記ローリフト型の搬送車は、姿勢を変えることなく前後方向に対して直交するように走行する横行走行はできず、その上前後方向の長さが長いので、狭い通路の移動には不向きである。 On the other hand, in warehouses and factories, distribution carts (for example, see Non-Patent Documents 1 to 3) are widely used for transportation, delivery, or storage. By using the slim physical distribution truck, the physical distribution truck can be moved in a narrow passage while being manually pushed by a person in a state where the physical distribution truck is loaded with articles or in an empty state where the physical distribution truck is unloaded.
When such a logistics vehicle is transported by the low-lift type carrier, the low-lift type carrier cannot move in a transverse direction in which it runs perpendicular to the front-rear direction without changing its posture. Its long directional length makes it unsuitable for movement in narrow passages.

なお、特許文献２の第６図（ａ）ないし（ｃ）の説明図には、特許文献２の発明のスピンターンを実施する３輪又は４輪構成の変形例として、操舵輪と駆動輪を分ける構成や、何れの車輪も操舵駆動輪にするようにした構成が記載されている。この中の第６図（ｂ）のように３輪の全てを操舵駆動輪にすれば、前記横行走行が可能になる。
しかしながら、車輪の全てを操舵駆動輪にすると、後輪５６，５６の構造が複雑且つ嵩高となってしまうので、製造コストの増大に繋がるとともに、フォークが低床であるローリフト型としてのメリットが損なわれる。その上、前記ローリフト型の搬送車は前後方向の長さが長いので、走行スペースが小さい状態で前後走行及び横行走行の両方を行うことができない。 6(a) to (c) of Patent Document 2 show a modification of the three-wheel or four-wheel configuration for performing the spin turn of the invention of Patent Document 2, in which the steering wheel and the drive wheel are arranged. A separate configuration and a configuration in which both wheels are steered and driven wheels are described. If all three wheels are steered drive wheels as shown in FIG.
However, if all the wheels are steered and driven wheels, the structure of the rear wheels 56, 56 becomes complicated and bulky, which leads to an increase in manufacturing cost and also impairs the merits of the low-lift type with a low-floor fork. be In addition, since the low-lift type transport vehicle is long in the front-rear direction, it is not possible to perform both forward-rearward travel and lateral travel in a state in which the travel space is small.

他方、横方向に荷役作業を行う無人搬送車として、平面コ字状の車体１の中央部一側にフォークＦを備え、前記車体１の通常走行方向の前後に設けた駆動操舵輪２ａ，２ｂ、及び同じく前後に設けた従動輪３ａ，３ｂを備えたものがある（例えば、特許文献３参照）。
このような搬送車によれば、図１のように通常走行で前後方向へ移動できるとともに、姿勢を変えることなく図２のように横行走行で左右方向へ移動できる。
このような搬送車は、左折又は右折に際し、通常走行のみによって円弧上をカーブして進む搬送車と比べて、走行スペースを小さくできるので、狭い通路の移動に適している。 On the other hand, as an automatic guided vehicle for carrying out cargo handling work in the lateral direction, a fork F is provided on one side of the central portion of a flat U-shaped vehicle body 1, and drive steering wheels 2a and 2b are provided on the front and rear sides of the vehicle body 1 in the normal traveling direction. , and also driven wheels 3a and 3b provided on the front and rear sides (see, for example, Patent Document 3).
According to such a transport vehicle, as shown in FIG. 1, the transport vehicle can move in the front-rear direction by normal running, and can also move in the horizontal direction by lateral running, as shown in FIG. 2, without changing its posture.
Such a transport vehicle is suitable for moving in a narrow passage because it can reduce the running space compared to a transport vehicle that curves on a circular arc only by normal running when turning left or right.

特許第３５４１７５８号公報Japanese Patent No. 3541758 特許第２６６１７２０号公報Japanese Patent No. 2661720 特許第２８１４８２３号公報Japanese Patent No. 2814823

“各種物流機材”、ヤマト・インダストリー株式会社のウェブページ、［平成３０年７月１０日検索］、インターネット＜URL:http://www.yamato-in.co.jp/buturyuu/index.html＞"Various logistics equipment", Yamato Industry Co., Ltd. web page, [searched on July 10, 2018], Internet <URL: http://www.yamato-in.co.jp/buturyuu/index.html> “バックヤード・店舗機器シリーズ紹介”、三甲株式会社のウェブページ、［平成３０年７月１０日検索］、インターネット＜URL:http://www.sanko-kk.co.jp/products/backyard/＞"Introduction of backyard/store equipment series", Sanko Co., Ltd. web page, [searched on July 10, 2018], Internet <URL: http://www.sanko-kk.co.jp/products/backyard/ ＞ “物流機器の製品情報”、株式会社マキテックのウェブページ、［平成３０年７月１０日検索］、インターネット＜URL:http://www.makitech.co.jp/carry/index.html#rokurin＞"Product Information of Logistics Equipment", Web page of Makitec Co., Ltd. [Searched on July 10, 2018], Internet <URL: http://www.makitech.co.jp/carry/index.html#rokurin>

特許文献３のような横方向に荷役作業を行う搬送車によれば、フォークを低床化しつつ、前後方向及び左右方向へ移動することができる。
しかしながら、車体１の平面コ字状の開口内にフォークＦを備えているとともに、フォークＦの前後に従動輪３ａ，３ｂ及びそれらのハウジングが存在することから、構造的に大きくなりやすく、その上、フォークで掬える荷が前記開口内に収まるものに限られる。よって、特許文献３のような平面コ字状の搬送車は、物流台車の搬送には適さない。 According to the transport vehicle for carrying out cargo handling work in the lateral direction, as disclosed in Patent Document 3, the fork can be moved in the front-rear direction and the left-right direction while the floor of the fork is lowered.
However, since the fork F is provided in the planar U-shaped opening of the vehicle body 1, and the driven wheels 3a and 3b in front and behind the fork F and their housings are present, the structure tends to be large. , the load scooped by the fork is limited to the one that fits within the opening. Therefore, the planar U-shaped transport vehicle as disclosed in Patent Document 3 is not suitable for transporting a physical distribution vehicle.

そこで本発明が前述の状況に鑑み、解決しようとするところは、物流台車等の荷を支持しながら狭い通路を様々な方向へ移動できる搬送車を提供する点にある。 Therefore, in view of the above situation, the present invention aims to provide a transport vehicle such as a physical distribution vehicle that can move in various directions in a narrow passage while supporting a load.

本発明の要旨は以下の通りである。
〔１〕基体に対して直動ガイドにより昇降可能にガイドされた、荷を支持する荷支持部と、
前記基体に支持され、所定の間隔で並んだ２つの駆動輪と、
前記基体の前記２つの駆動輪の間に設けた、前記荷支持部を昇降駆動する昇降駆動部と、
前記基体に設けた、前記駆動輪を別個に操舵する２つの操舵部と、
前記基体の下部から前記荷支持部が前記荷を支持する側へ突出する支持部材により支持され、前記駆動輪が並ぶ方向と平行に、所定の間隔で並んだ２つの従動輪と、
を備え、
前記２つの駆動輪の間隔よりも前記２つの従動輪の間隔は小さく、
前記２つの駆動輪の操舵軸間の中点を通り、前記２つの駆動輪の操舵軸を結ぶ直線に垂直な平面を対称面として、前記２つの従動輪の回動軸は面対称の位置にあることを特徴とする、
搬送車。 The gist of the present invention is as follows.
[1] A load supporting portion for supporting a load, which is guided by a linear motion guide so as to be able to move up and down with respect to the base body;
two drive wheels supported by the base and arranged at a predetermined interval;
a lifting drive unit provided between the two drive wheels of the base body for driving the load support unit up and down;
two steering units provided on the base for separately steering the driving wheels;
two driven wheels which are supported by a support member projecting from a lower portion of the base body toward the side supporting the load, and which are arranged parallel to the direction in which the drive wheels are arranged, at a predetermined interval;
with
The distance between the two driven wheels is smaller than the distance between the two drive wheels,
The rotation axes of the two driven wheels are symmetrical with respect to a plane perpendicular to a straight line that passes through the midpoint between the steering axes of the two drive wheels and connects the steering axes of the two drive wheels as a plane of symmetry. is characterized by
transport vehicle.

〔２〕基体に対して直動ガイドにより昇降可能にガイドされた、荷を支持する荷支持部と、
前記基体に支持され、所定の間隔で並んだ２つの駆動輪と、
前記基体の前記２つの駆動輪の間に設けた、前記荷支持部を昇降駆動する昇降駆動部と、
前記基体に設けた、前記駆動輪を別個に操舵する２つの操舵部と、
前記基体の下部から前記荷支持部が前記荷を支持する側へ突出する支持部材により支持され、前記駆動輪が並ぶ方向と平行に、所定の間隔で並んだ２つの従動輪と、
を備え、
前記従動輪は、全方向車輪であり、
前記２つの駆動輪の間隔よりも前記２つの従動輪の間隔は小さく、
前記２つの駆動輪の操舵軸間の中点を通り、前記２つの駆動輪の操舵軸を結ぶ直線に垂直な平面を対称面として、前記２つの従動輪の平面視中央は面対称の位置にあることを特徴とする、
搬送車。
〔３〕前記支持部材に、前記従動輪が並ぶ方向と平行で、且つ、前記従動輪が並ぶ間隔と同じ間隔で並び、前記対称面に関して面対称の位置にある、少なくとも２つの副従動輪をさらに備える、
前記〔１〕又は前記〔２〕に記載の搬送車。 [2] a load supporting portion for supporting a load, which is guided by a linear motion guide so as to be able to move up and down with respect to the base body;
two drive wheels supported by the base and arranged at a predetermined interval;
a lifting drive unit provided between the two drive wheels of the base body for driving the load support unit up and down;
two steering units provided on the base for separately steering the driving wheels;
two driven wheels which are supported by a support member projecting from a lower portion of the base body toward the side supporting the load, and which are arranged parallel to the direction in which the drive wheels are arranged, at a predetermined interval;
with
The driven wheel is an omnidirectional wheel,
The distance between the two driven wheels is smaller than the distance between the two drive wheels,
The centers of the two driven wheels in a plan view are symmetrical with respect to a plane perpendicular to a straight line connecting the steering shafts of the two driving wheels and passing through the midpoint between the steering shafts of the two driving wheels as a plane of symmetry. is characterized by
transport vehicle.
[3] The supporting member is provided with at least two auxiliary driven wheels that are parallel to the direction in which the driven wheels are arranged, are arranged at the same interval as the interval at which the driven wheels are arranged, and are positioned symmetrically with respect to the plane of symmetry. prepare further,
The transport vehicle according to [1] or [2].

〔４〕前記対称面を境にして同側にある前記駆動輪及び前記従動輪に対して、前記操舵部の操舵による前記駆動輪の動作を前記従動輪に伝える２つの操舵伝動部をさらに備える、
前記〔１〕に記載の搬送車。
〔５〕前記操舵伝動部は、前記操舵部によって操舵される前記駆動輪の操舵角と前記従動輪の操舵角とが同位相の関係になるように、前記駆動輪と前記従動輪とを連結する、
前記〔４〕に記載の搬送車。
〔６〕前記操舵伝動部により伝えられた前記駆動輪の操舵角と同じ操舵角を中心として、前記従動輪を所定の角度範囲内で遊動可能に連結する遊動連結部をさらに備える、
前記〔４〕又は前記〔５〕に記載の搬送車。
〔７〕前記遊動連結部は、
前記従動輪の回動軸と同軸に配置した一対のリング状部材を備え、
前記リング状部材の一方は、前記操舵連動部の一部を成し、
前記リング状部材の他方は、前記従動輪を支持するハウジングに連結され、
前記リング状部材に、一方には円弧状長孔を、他方には、前記円弧状長孔に重なる丸孔を設け、
前記一対のリング状部材間にわたるように、前記円弧状長孔及び前記丸孔に挿通される軸体をさらに備える、
前記〔６〕に記載の搬送車。 [4] With respect to the driving wheels and the driven wheels on the same side of the plane of symmetry, two steering transmission units are further provided for transmitting the operation of the driving wheels by the steering of the steering unit to the driven wheels. ,
The transport vehicle according to the above [1].
[5] The steering transmission unit couples the driving wheels and the driven wheels such that the steering angle of the driving wheels steered by the steering unit and the steering angle of the driven wheels are in phase. do,
The transport vehicle according to [4] above.
[6] further comprising a floating coupling portion that couples the driven wheels so as to be able to move within a predetermined angle range about the same steering angle as the steering angle of the driving wheels transmitted by the steering transmission portion;
The transport vehicle according to the above [4] or [5].
[7] The floating connection part is
A pair of ring-shaped members arranged coaxially with the rotation shaft of the driven wheel,
one of the ring-shaped members forms a part of the steering interlocking portion,
the other of the ring-shaped members is connected to a housing that supports the driven wheel;
The ring-shaped member is provided with an arc-shaped elongated hole on one side and a round hole overlapping the arc-shaped elongated hole on the other side,
further comprising a shaft inserted through the arc-shaped elongated hole and the round hole so as to extend between the pair of ring-shaped members;
The transport vehicle according to [6] above.

〔８〕前記荷は、矩形かつ平面形状からなる床材の少なくとも四隅に車輪を備えた物流台車に物品を積載したもの、又は空荷の前記物流台車であり、
前記荷支持部は、前記従動輪とともに、前記物流台車の床材の下側へ進入し、前記床材の下方から前記物流台車を支持する、
前記〔１〕～前記〔７〕の何れかに記載の搬送車。
〔９〕前記荷支持部は、
前記直動ガイドによりガイドされる垂直部と、
前記垂直部の下端から略水平に伸び、前記駆動輪が並ぶ方向と平行な方向に離間した、前記荷を支持する一対のフォーク部と
からなり、
前記一対のフォーク部の間隔は、前記２つの駆動輪の間隔以下で、且つ、前記従動輪の間隔以上である、
前記〔１〕～前記〔８〕の何れかに記載の搬送車。
〔１０〕前記荷は、矩形かつ平面形状からなる床材の四隅に自在車輪を備えるとともに、前記床材の長辺部の中央に固定車輪をさらに備えた六輪台車に物品を積載したもの、又は空荷の前記六輪台車であり、
前記一対のフォーク部の各々は、前記従動輪とともに、前記床材の長手方向に隣り合う、前記自在車輪と前記固定車輪との間における前記床材の下側へ進入し、前記床材の下方から前記六輪台車を支持する、
前記〔９〕に記載の搬送車。 [8] The load is a physical distribution vehicle having wheels on at least four corners of a flooring material having a rectangular and planar shape, and goods are loaded on the physical distribution vehicle, or an empty physical distribution vehicle;
The load support portion enters under the floor material of the physical distribution vehicle together with the driven wheel, and supports the physical distribution vehicle from below the floor material.
The transport vehicle according to any one of [1] to [7].
[9] The load support section is
a vertical portion guided by the linear motion guide;
a pair of fork portions extending substantially horizontally from the lower end of the vertical portion and spaced apart in a direction parallel to the direction in which the drive wheels are arranged, for supporting the load;
The distance between the pair of fork parts is less than or equal to the distance between the two driving wheels and greater than or equal to the distance between the driven wheels.
The transport vehicle according to any one of [1] to [8].
[10] The goods are loaded on a six-wheeled trolley equipped with free wheels at the four corners of the rectangular and flat flooring material and fixed wheels at the center of the long side of the flooring material, or An empty six-wheeled truck,
Each of the pair of fork portions, together with the driven wheel, enters below the flooring material between the swivel wheel and the fixed wheel, which are adjacent in the longitudinal direction of the flooring material, to the lower side of the flooring material. supporting the six-wheeled truck from
The transport vehicle according to [9] above.

本発明に係る搬送車によれば、主に以下のような効果を奏する。
（１）２つの駆動輪の間隔よりも２つの従動輪の間隔は小さく、２つの駆動輪の操舵軸及び２つの従動輪の回動軸、又は２つの駆動輪操舵軸及び２つの全方向車輪である従動輪の平面視中央が面対称の位置にあるとともに、２つの駆動輪は操舵部により個別に操舵されるので、搬送車は全方向へ移動できる。
（２）２つの従動輪を基体の下部から突出する支持部材により支持しており、従動輪及び支持部材が荷支持部により支持される荷と干渉しにくいので、大きさの異なる物流台車等が荷である場合であっても、その荷を搬送車が搬送できる。
（３）荷支持部を昇降駆動する昇降駆動部を基体の２つの駆動輪の間に設けていることから、２つの駆動輪が並ぶ方向と直交する水平方向の長さを短くできるので、スリムな物流台車等が荷である場合であっても、その荷を搬送車が支持しながら狭い通路を移動できる。
（４）従動輪が全方向車輪である構成、又は操舵部の操舵による駆動輪の動作を従動輪に伝える操舵伝動部を備える構成にすることにより、搬送車の走行安定性を向上できる。 ADVANTAGE OF THE INVENTION According to the conveyance vehicle which concerns on this invention, there exists mainly the following effects.
(1) The distance between the two driven wheels is smaller than the distance between the two driving wheels, and the steering shafts of the two driving wheels and the rotation shafts of the two driven wheels, or the two driving wheel steering shafts and two omnidirectional wheels The center of the driven wheel in plan view is positioned symmetrically, and the two drive wheels are individually steered by the steering section, so that the transport vehicle can move in all directions.
(2) Two driven wheels are supported by a supporting member protruding from the bottom of the base body, and the driven wheels and the supporting member are less likely to interfere with the load supported by the load support section, so that distribution trucks of different sizes can be used. Even if it is a load, the transport vehicle can transport the load.
(3) Since the lift drive section for driving the load support section is provided between the two drive wheels of the base body, the length in the horizontal direction perpendicular to the direction in which the two drive wheels are arranged can be shortened, resulting in a slim design. Even if the cargo is on a physical distribution vehicle or the like, the cargo can be moved in a narrow passage while being supported by the transport vehicle.
(4) The running stability of the transport vehicle can be improved by adopting a configuration in which the driven wheels are omnidirectional wheels or a configuration provided with a steering transmission section that transmits the operation of the driving wheels by steering of the steering section to the driven wheels.

本発明の実施の形態に係る搬送車を示す概略平面図である。1 is a schematic plan view showing a transport vehicle according to an embodiment of the present invention; FIG. 同じく概略正面図である。It is a schematic front view of the same. 同じく概略斜視図である。It is a schematic perspective view of the same. 搬送車が荷を支持した状態を示す概略平面図である。FIG. 4 is a schematic plan view showing a state in which a transport vehicle supports a load; フォーク部を物流台車の床材の下側に挿入した状態を示す概略正面図である。FIG. 4 is a schematic front view showing a state in which the fork part is inserted under the floor material of the physical distribution vehicle; フォーク部を上昇させて物流台車を持ち上げた状態を示す概略正面図である。It is a schematic front view which shows the state which lifted the fork part and lifted the distribution trolley. 操舵伝動部の概略説明図であり、駆動輪及び従動輪を前後方向へ向けた例を示している。It is a schematic explanatory drawing of a steering transmission part, and has shown the example which orient|assigned the driving wheel and the driven wheel to the front-back direction. 操舵伝動部の概略説明図であり、駆動輪及び従動輪を左右方向へ向けた例を示している。It is a schematic explanatory drawing of a steering transmission part, and has shown the example which orient|assigned the driving wheel and the driven wheel to the left-right direction. 操舵伝動部の概略説明図であり、駆動輪の操舵軸及び従動輪の回動軸を図６Ｂの位置から平面視で反時計方向へ４５°回動させた例を示している。FIG. 6B is a schematic explanatory diagram of the steering transmission unit, showing an example in which the steering shaft of the drive wheel and the rotation shaft of the driven wheel are rotated counterclockwise by 45° from the position shown in FIG. 6B . 操舵伝動部の概略説明図であり、駆動輪の操舵軸及び従動輪の回動軸を図６Ｂの位置から平面視で時計方向へ４５°回動させた例を示している。FIG. 6B is a schematic explanatory diagram of the steering transmission unit, showing an example in which the steering shaft of the drive wheels and the rotation shaft of the driven wheels are rotated clockwise by 45° from the positions shown in FIG. 6B . 操舵伝動部の概略説明図であり、駆動輪を円弧状経路における円弧の接線方向へ向けた例を示している。FIG. 4 is a schematic explanatory diagram of a steering transmission unit, showing an example in which drive wheels are oriented in a tangential direction of an arc in an arc-shaped path. 遊動連結部まわりを示す部分横断面要部拡大平面図であり、従動輪の回動軸の操舵角が駆動輪と操舵角と同じである場合を示している。FIG. 4 is a partial cross-sectional enlarged plan view showing the surroundings of the free connecting portion, showing a case where the steering angle of the rotation shaft of the driven wheel is the same as the steering angle of the driving wheel; 遊動連結部まわりを示す部分横断面要部拡大平面図であり、図７の位置から従動輪が遊動した例を示している。FIG. 8 is a partial cross-sectional enlarged plan view showing the surroundings of the free connecting portion, showing an example in which the driven wheel has moved freely from the position shown in FIG. 7; 遊動連結部まわりを示す部分横断面要部拡大平面図であり、図７の位置から従動輪が図８Ａと反対方向へ遊動した例を示している。FIG. 8B is a partial cross-sectional enlarged plan view showing the periphery of the free connecting portion, showing an example in which the driven wheel moves in the direction opposite to that in FIG. 8A from the position shown in FIG. 7; 遊動連結部まわりを示す部分縦断面要部拡大正面図である。It is a fragmentary vertical cross-sectional main part enlarged front view showing the surroundings of the floating connecting portion. 遊動連結部まわりを示す部分縦断面要部拡大右側面図である。It is a fragmentary vertical cross-sectional main part enlarged right side view showing the periphery of the floating connecting part. 従動輪を全方向車輪にした本発明の実施の形態に係る搬送車を示す概略平面図である。1 is a schematic plan view showing a transport vehicle according to an embodiment of the present invention in which driven wheels are omnidirectional wheels; FIG.

以下、本発明に係る実施形態を図面に基づいて説明する。
以下の実施形態において、２つの駆動輪が並ぶ方向を前後方向（図１の矢印Ａ１の方向を前方）とし、前方へ向かって左右を定義し、前方から見た図を正面図とする。 BEST MODE FOR CARRYING OUT THE INVENTION An embodiment according to the present invention will be described below with reference to the drawings.
In the following embodiments, the direction in which the two drive wheels are arranged is defined as the front-rear direction (the direction of arrow A1 in FIG. 1 is the front), left and right are defined as viewed forward, and the view from the front is defined as the front view.

＜搬送車＞
図１の概略平面図、図２の概略正面図、及び図３の概略斜視図、並びに図４の概略平面図に示す本発明に係る実施形態に係る搬送車１は、基体２、荷Ｌを支持する荷支持部３、荷支持部３を昇降駆動する昇降駆動部４、２つの駆動輪Ｗ１，Ｗ１、２つの従動輪Ｗ２，Ｗ２、駆動輪Ｗ１，Ｗ１を別個に操舵する２つの操舵部５，５、駆動輪Ｗ１，Ｗ１を別個に駆動する走行駆動部６，６、及び操舵部５の操舵による駆動輪Ｗ１の動作を従動輪Ｗ２に伝える２つの操舵伝動部７，７等を備える。 <Conveyor>
1, the schematic front view of FIG. 2, the schematic perspective view of FIG. 3, and the schematic plan view of FIG. A load support section 3 that supports the load support section 3, a lifting drive section 4 that drives the load support section 3 up and down, two drive wheels W1 and W1, two driven wheels W2 and W2, and two steering sections that separately steer the drive wheels W1 and W1. 5, 5, traveling drive units 6, 6 for separately driving the driving wheels W1, W1, and two steering transmission units 7, 7 for transmitting the motion of the driving wheel W1 by steering of the steering unit 5 to the driven wheels W2. .

駆動輪Ｗ１は基体２により操舵軸Ｊ１まわりに回動可能に支持され、自在車輪である従動輪Ｗ２は、基体２の下部から左方（荷支持部３が荷Ｌを支持する側）へ突出する支持部材９により回動軸Ｊ２まわりに回動可能に支持される。
荷支持部３は、基体２に対して前後の直動ガイドＧ，Ｇにより昇降可能にガイドされる垂直部３Ａと、垂直部３Ａの下端から略水平に左方に伸び、駆動輪Ｗ１，Ｗ１が並ぶ方向Ａ１と平行な方向に離間した、荷Ｌを支持する一対のフォーク部３Ｂ，３Ｂとからなる。 The driving wheel W1 is supported by the base 2 so as to be rotatable about the steering axis J1, and the driven wheel W2, which is a free wheel, protrudes leftward from the lower part of the base 2 (the side where the load support 3 supports the load L). It is rotatably supported around the rotation axis J2 by the support member 9 which is connected to the support member 9. As shown in FIG.
The load supporting portion 3 includes a vertical portion 3A which is guided up and down by front and rear linear motion guides G, G with respect to the base body 2, and extends substantially horizontally to the left from the lower end of the vertical portion 3A. and a pair of fork portions 3B, 3B for supporting the load L spaced apart in a direction parallel to the direction A1 in which they are arranged.

＜車輪の配置＞
２つの駆動輪Ｗ１，Ｗ１は、所定の間隔Ｄ１で前後に並び、２つの従動輪Ｗ２，Ｗ２は、駆動輪Ｗ１，Ｗ１が並ぶ方向Ａ１と平行な方向（図１の方向Ａ２）に、所定の間隔Ｄ２で並ぶ。
図１に示すように、２つの駆動輪Ｗ１，Ｗ１の操舵軸Ｊ１，Ｊ１の間隔Ｄ１よりも２つの従動輪Ｗ２，Ｗ２の回動軸Ｊ２，Ｊ２の間隔Ｄ２は小さい（Ｄ１＞Ｄ２）。
２つの従動輪Ｗ２，Ｗ２の回動軸Ｊ２，Ｊ２は、対称面Ｅに関して面対称である。
対称面Ｅは、２つの駆動輪Ｗ１，Ｗ１の操舵軸Ｊ１，Ｊ１間の中点Ｂを通り、操舵軸Ｊ１，Ｊ１を結ぶ直線Ｃに垂直な平面である。
よって、対称面Ｅを境にして前方の駆動輪Ｗ１の操舵軸Ｊ１及び従動輪Ｗ２の回動軸Ｊ２と、対称面Ｅを境にして後方の駆動輪Ｗ１の操舵軸Ｊ１及び従動輪Ｗ２の回動軸Ｊ２とは、対称面Ｅに関して面対称の位置にある。
このような車輪の配置により、搬送車１が全方向へ移動する際の動作が安定する。 <Arrangement of wheels>
The two driving wheels W1, W1 are arranged back and forth with a predetermined distance D1, and the two driven wheels W2, W2 are arranged in a direction parallel to the direction A1 in which the driving wheels W1, W1 are arranged (direction A2 in FIG. 1). are arranged at intervals of D2.
As shown in FIG. 1, the distance D2 between the rotation shafts J2, J2 of the two driven wheels W2, W2 is smaller than the distance D1 between the steering shafts J1, J1 of the two drive wheels W1, W1 (D1>D2).
The rotation axes J2, J2 of the two driven wheels W2, W2 are symmetrical with respect to the plane of symmetry E.
The plane of symmetry E is a plane passing through the midpoint B between the steering axes J1, J1 of the two drive wheels W1, W1 and perpendicular to the straight line C connecting the steering axes J1, J1.
Therefore, the steering axis J1 of the driving wheel W1 and the rotation axis J2 of the driven wheel W2 in front of the plane of symmetry E, and the steering axis J1 of the driving wheel W1 and the driven wheel W2 behind the plane of symmetry E. The rotation axis J2 is positioned symmetrically with respect to the plane of symmetry E. As shown in FIG.
Such arrangement of the wheels stabilizes the movement of the transport vehicle 1 when it moves in all directions.

＜荷＞
図４の概略平面図、並びに図５Ａ及び図５Ｂの概略正面図に示す荷Ｌは、例えば物流台車ＬＴの一例である、車輪Ｈを六輪備えた六輪台車Ｍである。
六輪台車Ｍは、矩形かつ平面形状からなる床材Ｆの四隅に自在車輪Ｉ，Ｉ，…を備えるとともに、床材Ｆの左右の長辺部の中央に固定車輪Ｋ，Ｋをさらに備える。
搬送車１は、荷Ｌである、六輪台車Ｍに物品を積載したもの、又は空荷の六輪台車Ｍを搬送する。
なお、物流台車ＬＴは、六輪台車Ｍに限定されるものではなく、床材Ｆの少なくとも四隅に車輪Ｈ，Ｈ，…を備えたものであればよい。 <load>
The load L shown in the schematic plan view of FIG. 4 and the schematic front views of FIGS. 5A and 5B is, for example, a six-wheeled trolley M having six wheels H, which is an example of a physical distribution trolley LT.
The six-wheeled trolley M is provided with free wheels I, I, .
The transport vehicle 1 transports a six-wheeled trolley M loaded with articles or an empty six-wheeled trolley M as a load L.
It should be noted that the logistics trolley LT is not limited to the six-wheeled trolley M, and may be any one provided with wheels H, H, . . .

搬送車１の荷支持部３の前後のフォーク部３Ｂ，３Ｂは、支持部材９，９及び従動輪Ｗ２，Ｗ２とともに、床材Ｆの下側へ進入し、床材Ｆの下方から物流台車ＬＴを支持する。
図４及び図５Ａの例では、一対のフォーク部３Ｂ，３Ｂの各々は、支持部材９及び従動輪Ｗ２とともに、六輪台車Ｍの床材Ｆの長手方向に隣り合う、自在車輪Ｉと固定車輪Ｋとの間における床材Ｆの下側へ進入し、床材Ｆの下方から六輪台車Ｍを支持する。
このように六輪台車Ｍの固定車輪Ｋを挟むようにして、床材Ｆの下方から六輪台車Ｍを保持することにより、安定した六輪台車Ｍの搬送が可能となる。 The front and rear fork portions 3B, 3B of the load support portion 3 of the transport vehicle 1, together with the support members 9, 9 and the driven wheels W2, W2, enter below the flooring material F, and move from below the flooring material F to the distribution truck LT. support.
In the example of FIGS. 4 and 5A, each of the pair of fork portions 3B, 3B, along with the support member 9 and the driven wheel W2, is a free wheel I and a fixed wheel K, which are adjacent in the longitudinal direction of the floor material F of the six-wheeled truck M. , and supports the six-wheel truck M from below the floor material F.
By holding the six-wheeled trolley M from below the floor material F so as to sandwich the fixed wheels K of the six-wheeled trolley M in this way, the six-wheeled trolley M can be stably transported.

＜昇降駆動部＞
昇降駆動部４は、例えば油圧シリンダーであり、基体２の２つの駆動輪Ｗ１，Ｗ１の間に設ける。
図４及び図５Ａのようにフォーク部３Ｂ，３Ｂを六輪台車Ｍの床材Ｆの下側に挿入した状態から、昇降駆動部４を駆動してフォーク部３Ｂ，３Ｂを上昇させることにより、図５Ｂのように六輪台車Ｍを上昇させることができる。 <Up-and-down drive unit>
The elevation drive unit 4 is, for example, a hydraulic cylinder, and is provided between the two driving wheels W1, W1 of the base body 2. As shown in FIG.
From the state in which the fork portions 3B, 3B are inserted under the floor material F of the six-wheel truck M as shown in FIGS. The six-wheeled trolley M can be raised like 5B.

＜フォーク部の間隔＞
図１に示す一対のフォーク部３Ｂ，３Ｂの間隔（フォーク部３Ｂ，３Ｂの幅方向中央の間隔）Ｄ３は、２つの従動輪Ｗ２，Ｗ２の間隔Ｄ２と等しい。
フォーク部３Ｂ，３Ｂの間隔Ｄ３は、２つの駆動輪Ｗ１，Ｗ１の間隔Ｄ１以下で、且つ、２つの従動輪Ｗ２，Ｗ２の間隔Ｄ２以上であればよい（Ｄ２≦Ｄ３≦Ｄ１）。
それにより、フォーク部３Ｂ，３Ｂにより物流台車ＬＴを保持した状態が安定するので、図５Ｂのように物流台車ＬＴを支持して搬送する動作が安定する。
また、荷支持部３の荷Ｌを受ける部分（例えば、フォーク部３Ｂ，３Ｂ）を、従動輪Ｗ２，Ｗ２の上側に配置することにより、荷支持部３の荷Ｌを受ける部分の低床化を図ることができる。 <Fork interval>
The distance D3 between the pair of fork portions 3B, 3B shown in FIG. 1 (the distance between the widthwise centers of the fork portions 3B, 3B) is equal to the distance D2 between the two driven wheels W2, W2.
The distance D3 between the fork portions 3B, 3B should be less than the distance D1 between the two drive wheels W1, W1 and more than the distance D2 between the two driven wheels W2, W2 (D2≤D3≤D1).
As a result, the state in which the physical distribution trolley LT is held by the fork portions 3B, 3B is stabilized, so the operation of supporting and conveying the physical distribution trolley LT as shown in FIG. 5B is stabilized.
Further, by arranging the portion of the load support portion 3 that receives the load L (for example, the fork portions 3B, 3B) above the driven wheels W2, W2, the floor of the portion of the load support portion 3 that receives the load L is lowered. can be achieved.

＜操舵部及び走行駆動部＞
操舵部５は、例えば電動モータ及び減速機である操舵用駆動装置５Ａ、操舵用駆動装置５Ａの出力軸に固定された小径ギヤ５Ｂ、小径ギヤ５Ｂに噛合し、駆動輪Ｗ１とともに操舵軸Ｊ１まわりに回動するハウジングに取り付けた大径ギヤ５Ｃからなる。
操舵部５による操舵軸Ｊ１の回動角度は、図３に示す位置検出器Ｎで検出する。
走行駆動部６は、例えば電動モータ及び減速機であり、駆動輪Ｗ１を回転させる。
走行駆動部６は、駆動輪Ｗ１とともに操舵軸Ｊ１まわりに回動する。 <Steering unit and traveling drive unit>
The steering unit 5 meshes with a steering driving device 5A, which is, for example, an electric motor and a speed reducer, a small-diameter gear 5B fixed to the output shaft of the steering driving device 5A, and the small-diameter gear 5B, and rotates around the steering shaft J1 together with the driving wheels W1. It consists of a large-diameter gear 5C attached to a housing that rotates in the direction of rotation.
The rotation angle of the steering shaft J1 by the steering section 5 is detected by the position detector N shown in FIG.
The traveling drive unit 6 is, for example, an electric motor and a speed reducer, and rotates the driving wheels W1.
The travel drive unit 6 rotates around the steering shaft J1 together with the drive wheels W1.

＜操舵伝動部＞
図１及び図３に示すように、操舵伝動部７は、スプロケット７Ａ、無端チェーン７Ｂ、スプロケット７Ｃ、伝動軸７Ｄ、スプロケット７Ｅ、無端チェーン７Ｆ、及びスプロケット７Ｇからなる。 <Steering transmission part>
As shown in FIGS. 1 and 3, the steering transmission section 7 comprises a sprocket 7A, an endless chain 7B, a sprocket 7C, a transmission shaft 7D, a sprocket 7E, an endless chain 7F and a sprocket 7G.

スプロケット７Ａは操舵軸Ｊ１とともに回動し、スプロケット７Ｃはスプロケット７Ａから前後方向内方へ離間する。
スプロケット７Ａ及び７Ｃには、無端チェーン７Ｂが架け渡される。
スプロケット７Ｃには上下方向に長い鉛直軸である伝動軸７Ｄの上端部が固定され、伝動軸７Ｄの下端部にはスプロケット７Ｅが固定され、従動輪Ｗ２のハウジング１０（図７、図９Ａ）には、スプロケット７Ｇが連結される。
スプロケット７Ｅ及び７Ｇには、無端チェーン７Ｆが架け渡される。 The sprocket 7A rotates together with the steering shaft J1, and the sprocket 7C separates from the sprocket 7A inward in the front-rear direction.
An endless chain 7B is laid over the sprockets 7A and 7C.
The upper end of a transmission shaft 7D, which is a vertically long vertical shaft, is fixed to the sprocket 7C, and the sprocket 7E is fixed to the lower end of the transmission shaft 7D. is connected to the sprocket 7G.
An endless chain 7F is laid over the sprockets 7E and 7G.

操舵伝動部７，７は、駆動輪Ｗ１，Ｗ１及び従動輪Ｗ２，Ｗ２の配置（Ｄ１＞Ｄ２）により、平面視で、略Ｌ字状又は略逆Ｌ字状になる。
このような機構により、操舵伝動部７は、図１に示す対称面Ｅを境にして同側にある駆動輪Ｗ１及び従動輪Ｗ２に対して、操舵部５の操舵による駆動輪Ｗ１の動作を従動輪Ｗ２に伝える。 The steering transmission parts 7, 7 are substantially L-shaped or substantially inverted L-shaped in plan view due to the arrangement of the drive wheels W1, W1 and the driven wheels W2, W2 (D1>D2).
With such a mechanism, the steering transmission unit 7 causes the driving wheel W1 and the driven wheel W2 on the same side of the plane of symmetry E shown in FIG. It is transmitted to the driven wheel W2.

次に、操舵伝動部７の動作について、図６Ａないし図６Ｅの概略説明図により説明する。
図６Ａのように、操舵部５，５により駆動輪Ｗ１，Ｗ１を前後方向へ向けると、操舵伝動部７，７によりトルクが伝達され、従動輪Ｗ２，Ｗ２も前後方向へ向く。
図６Ｂのように、操舵部５，５により駆動輪Ｗ１，Ｗ１を左右方向に向けると、操舵伝動部７，７によりトルクが伝達され、従動輪Ｗ２，Ｗ２も左右方向へ向く。
図６Ｃのように、操舵部５，５により駆動輪Ｗ１，Ｗ１を図６Ｂの位置から平面視で反時計方向へ４５°回動させると、操舵伝動部７，７によりトルクが伝達され、従動輪Ｗ２，Ｗ２も駆動輪Ｗ１，Ｗ１と同様に図６Ｂの位置から平面視で反時計方向へ４５°回動する。
図６Ｄのように、操舵部５，５により駆動輪Ｗ１，Ｗ１を図６Ｂの位置から平面視で時計方向へ４５°回動させると、操舵伝動部７，７によりトルクが伝達され、従動輪Ｗ２，Ｗ２も駆動輪Ｗ１，Ｗ１と同様に図６Ｂの位置から平面視で時計方向へ４５°回動する。 Next, the operation of the steering transmission unit 7 will be described with reference to schematic explanatory diagrams of FIGS. 6A to 6E.
As shown in FIG. 6A, when the driving wheels W1, W1 are turned in the front-rear direction by the steering units 5, 5, torque is transmitted by the steering transmission units 7, 7, and the driven wheels W2, W2 are also turned in the front-rear direction.
As shown in FIG. 6B, when the driving wheels W1, W1 are oriented in the left-right direction by the steering units 5, 5, torque is transmitted by the steering transmission units 7, 7, and the driven wheels W2, W2 are also oriented in the left-right direction.
As shown in FIG. 6C, when the steering units 5, 5 rotate the driving wheels W1, W1 counterclockwise from the position shown in FIG. The driving wheels W2, W2 also rotate 45 degrees counterclockwise in a plan view from the position shown in FIG. 6B in the same manner as the driving wheels W1, W1.
As shown in FIG. 6D, when the steering units 5, 5 rotate the driving wheels W1, W1 clockwise 45° from the position shown in FIG. Similarly to the drive wheels W1 and W1, W2 and W2 also rotate clockwise by 45° in a plan view from the position shown in FIG. 6B.

以上のように、操舵伝動部７は、操舵部５によって操舵される駆動輪Ｗ１の操舵角と従動輪Ｗ２の操舵角とが同位相の関係になるように、駆動輪Ｗ１と従動輪Ｗ２とを連結している。
よって、図４及び図５Ｂのように、搬送車１のフォーク部３Ｂ，３Ｂで六輪台車Ｍを掬った直後でも、方向転換することなく、六輪台車Ｍの長手方向への走行や旋回が可能となるので、六輪台車Ｍ，Ｍ，…が狭い通路に並べて置かれている場合であっても、搬送車１を転回することなく、搬送車１で六輪台車Ｍを狭い通路に沿って搬送できる。 As described above, the steering transmission unit 7 controls the driving wheels W1 and the driven wheels W2 such that the steering angle of the driving wheels W1 steered by the steering unit 5 and the steering angle of the driven wheels W2 are in the same phase relationship. are concatenated.
Therefore, as shown in FIGS. 4 and 5B, even immediately after scooping the six-wheeled truck M with the forks 3B, 3B of the carrier 1, the six-wheeled truck M can travel in the longitudinal direction and turn without changing direction. Therefore, even when the six-wheeled carriages M, M, .

図６Ｅのように、旋回中心Ｐの円弧状経路に沿って搬送車１を移動させるために、操舵部５，５により駆動輪Ｗ１，Ｗ１を操舵して、旋回中心Ｐと操舵軸Ｊ１との距離である旋回半径Ｑ１の円弧の接線方向へ駆動輪Ｗ１，Ｗ１を向けた場合、操舵伝動部７，７によりトルクが伝達され、従動輪Ｗ２，Ｗ２は、従動輪Ｗ２，Ｗ２の操舵角が駆動輪Ｗ１，Ｗ１の操舵角と同位相になるように回動する。
その場合、従動輪Ｗ２，Ｗ２は、旋回中心Ｐと回動軸Ｊ２との距離である旋回半径Ｑ２（Ｑ２＞Ｑ１）の円弧の接線方向へ向いていないのでスリップが生じ、円滑な移動ができなくなることがある。
そこで、以下に示す遊動連結部を備えるのが望ましい。 As shown in FIG. 6E, in order to move the guided vehicle 1 along the arc-shaped path of the turning center P, the driving wheels W1, W1 are steered by the steering units 5, 5, so that the turning center P and the steering axis J1 are aligned. When the drive wheels W1, W1 are directed in the tangential direction of the arc of the turning radius Q1, which is the distance, the torque is transmitted by the steering transmission parts 7, 7, and the driven wheels W2, W2 are steered at the steering angles of the driven wheels W2, W2. It rotates so as to have the same phase as the steering angle of the drive wheels W1, W1.
In this case, since the driven wheels W2, W2 are not oriented in the tangential direction of the arc of the turning radius Q2 (Q2>Q1), which is the distance between the turning center P and the rotation axis J2, slip occurs and smooth movement is not possible. may disappear.
Therefore, it is desirable to provide a floating connection portion as described below.

＜遊動連結部＞
図７、図８Ａ及び図８Ｂの部分横断面要部拡大平面図、並びに図９Ａの部分縦断面要部拡大正面図、及び図９Ｂの部分縦断面要部拡大右側面図に示すように、遊動連結部８は、従動輪Ｗ２の回動軸Ｊ２と同軸に配置した一対のリング状部材Ｒ１，Ｒ２を備える。
リング状部材Ｒ１は操舵連動部７のスプロケット７Ｇであり、リング状部材Ｒ２は従動輪Ｗ２を支持するハウジング１０に、ボルト１６，１７により連結される。
リング状部材Ｒ１は、円弧状長孔１１，１１，…を有し、リング状部材Ｒ２は、円弧状長孔１１，１１，…に重なる丸孔１２，１２，…を有する。
軸体Ｓであるボルト１４を、上側のリング部材Ｒ２の丸孔１２、上下のリング部材Ｒ２，Ｒ１間に配したカラー１３、下側のリング部材Ｒ１の円弧状長孔１１に挿通し、下方からナット１５を螺合する。 <Swivel connecting part>
7, FIGS. 8A and 8B are enlarged plan views of essential parts in cross section, the enlarged front view of essential parts in longitudinal section is shown in FIG. 9A, and the enlarged right side view of essential parts in partial longitudinal section is shown in FIG. 9B. The connecting portion 8 includes a pair of ring-shaped members R1 and R2 arranged coaxially with the rotation axis J2 of the driven wheel W2.
The ring-shaped member R1 is the sprocket 7G of the steering interlocking portion 7, and the ring-shaped member R2 is connected by bolts 16 and 17 to the housing 10 that supports the driven wheel W2.
The ring-shaped member R1 has arcuate long holes 11, 11, . . . , and the ring-shaped member R2 has round holes 12, 12, .
A bolt 14, which is the shaft S, is inserted through the round hole 12 of the upper ring member R2, the collar 13 disposed between the upper and lower ring members R2 and R1, and the arc-shaped elongated hole 11 of the lower ring member R1. The nut 15 is screwed from the

このような構成の遊動連結部８により、図７に示す従動輪Ｗ２の回動軸Ｊ２の操舵角が駆動輪Ｗ１と操舵角と同じである場合から、スプロケット７Ｇ（リング状部材Ｒ１）が動かない状態で、従動輪Ｗ２は、図８Ａから図８Ｂに示す所定角度範囲内で遊動できる。
このように、遊動連結部８は、操舵伝動部７により伝えられた駆動輪Ｗ１の操舵角と同じ操舵角を中心として、従動輪Ｗ２を所定の角度範囲内で遊動可能に連結するものである。
搬送車１に遊動連結部８，８を設けることにより、駆動輪Ｗ１，Ｗ１と従動輪Ｗ２，Ｗ２との間でスリップアングルに差をつけることができるので、搬送車１の滑らかな旋回が可能になる。 With the floating coupling portion 8 having such a configuration, the sprocket 7G (ring-shaped member R1) can be moved from the case where the steering angle of the rotation shaft J2 of the driven wheel W2 shown in FIG. 7 is the same as the steering angle of the driving wheel W1. In this state, the driven wheel W2 can freely move within a predetermined angular range shown in FIGS. 8A and 8B.
In this way, the floating coupling portion 8 couples the driven wheels W2 so that they can move within a predetermined angle range about the same steering angle as the steering angle of the driving wheels W1 transmitted by the steering transmission portion 7. .
By providing the carrier 1 with the free connecting parts 8, 8, it is possible to make a difference in the slip angle between the driving wheels W1, W1 and the driven wheels W2, W2, so that the carrier 1 can turn smoothly. become.

遊動連結部８が、操舵連動部７のスプロケット７Ｇであるリング状部材Ｒ１、及びリング状部材Ｒ１と同軸で、従動輪Ｗ２を支持するハウジング１０に連結されるリング状部材Ｒ２を備え、リング状部材Ｒ１、Ｒ２の一方には円弧状長孔１１を、他方には、円弧状長孔１１に重なる丸孔１２を設け、一対のリング状部材Ｒ１，Ｒ２間にわたるように、円弧状長孔１１及び丸孔１２に挿通される軸体Ｓを備えるものであると、複雑な制御装置等を用いることなく簡単な構造で遊動連結部を実現できる。 The floating coupling portion 8 includes a ring-shaped member R1 that is the sprocket 7G of the steering interlocking portion 7, and a ring-shaped member R2 that is coaxial with the ring-shaped member R1 and coupled to a housing 10 that supports a driven wheel W2. One of the members R1 and R2 is provided with an arc-shaped elongated hole 11, and the other is provided with a circular hole 12 overlapping the arc-shaped elongated hole 11. And if the shaft body S inserted through the round hole 12 is provided, the floating connection part can be realized with a simple structure without using a complicated control device or the like.

＜操舵伝動部を備えない構成例＞
図１０の概略平面図は、操舵伝動部７を備えずに、従動輪Ｗ２を全方向車輪ＯＷにした構成例を示しており、図１と同一の符号は、同一の又は相当する部品又は部分等を示している。
すなわち、図１０の搬送車１は、従動輪Ｗ２，Ｗ２として、自在車輪ではなく全方向車輪ＯＷ，ＯＷを備えている。
図１０の搬送車１では、対称面Ｅに関して、２つの全方向車輪ＯＷ，ＯＷである従動輪Ｗ２，Ｗ２の平面視中央Ｔ，Ｔが面対称の位置にある。 <Configuration example without steering transmission unit>
The schematic plan view of FIG. 10 shows a configuration example in which the driven wheels W2 are omnidirectional wheels OW without the steering transmission section 7, and the same reference numerals as in FIG. 1 denote the same or corresponding parts or portions. etc.
That is, the transport vehicle 1 of FIG. 10 has omnidirectional wheels OW, OW instead of swivel wheels as driven wheels W2, W2.
In the transport vehicle 1 of FIG. 10, two omni-directional wheels OW, OW, i.e. driven wheels W2, W2 are positioned symmetrically with respect to the plane of symmetry E in plan view.

全方向車輪ＯＷは、「オムニホイール」と呼ばれる公知の車輪で（例えば、特開平２０１３－１８９０６８号公報参照）、バレルフレーム１８の外周部に複数のバレル（樽型ローラ）１９を装備してなるものであり、全方向に移動できる。
従動輪Ｗ２，Ｗ２を全方向車輪ＯＷ，ＯＷにすることにより、従動輪Ｗ２，Ｗ２がキャスター輪である場合と比較して、従動輪Ｗ２，Ｗ２の挙動が安定し、旋回時の動作も円滑になる。 The omnidirectional wheel OW is a known wheel called "omni wheel" (see, for example, Japanese Patent Application Laid-Open No. 2013-189068), and is equipped with a plurality of barrels (barrel rollers) 19 on the outer periphery of the barrel frame 18. It can move in all directions.
By making the driven wheels W2 and W2 omnidirectional wheels OW and OW, the behavior of the driven wheels W2 and W2 is more stable and the operation during turning is smoother than when the driven wheels W2 and W2 are caster wheels. become.

また、支持部材９，９に、従動輪Ｗ２，Ｗ２が並ぶ方向Ａ２と平行で、且つ、従動輪Ｗ２，Ｗ２が並ぶ間隔Ｄ２と同じ間隔で並び、対称面Ｅに関して面対称の位置にある、２つの副従動輪Ｗ３，Ｗ３をさらに備えており、副従動輪Ｗ３，Ｗ３も全方向車輪ＯＷ，ＯＷとしている。それにより耐荷重が低い全方向車輪ＯＷ，ＯＷ，…に掛かる荷重を分散できる。
なお、副従動輪Ｗ３は、２つに限定されるものではなく、それよりも多く、要求仕様等に応じて４つ、６つ等を適宜設けることができる。 In addition, the support members 9, 9 are arranged parallel to the direction A2 in which the driven wheels W2, W2 are arranged, at the same interval as the interval D2 in which the driven wheels W2, W2 are arranged, and are symmetrical with respect to the plane of symmetry E. Two secondary driven wheels W3, W3 are further provided, and the secondary driven wheels W3, W3 are also omnidirectional wheels OW, OW. As a result, the load applied to the omnidirectional wheels OW, OW, .
The number of auxiliary driven wheels W3 is not limited to two, but may be more, such as four or six, depending on the required specifications.

以上のような搬送車１によれば、２つの駆動輪Ｗ１，Ｗ１の間隔Ｄ１よりも２つの従動輪Ｗ２，Ｗ２の間隔Ｄ２は小さく、２つの駆動輪Ｗ１，Ｗ１の操舵軸Ｊ１，Ｊ１及び２つの従動輪Ｗ２，Ｗ２の回動軸Ｊ２，Ｊ２、又は２つの駆動輪Ｗ１，Ｗ１の操舵軸Ｊ１，Ｊ１及び２つの全方向車輪ＯＷ，ＯＷである従動輪Ｗ２，Ｗ２の平面視中央Ｔ，Ｔが面対称の位置にあるとともに、２つの駆動輪Ｗ１，Ｗ１は操舵部５，５により個別に操舵されるので、搬送車１は全方向へ移動できる。
その上、２つの従動輪Ｗ１，Ｗ１を基体２の下部から突出する支持部材９，９により支持しており、従動輪Ｗ２，Ｗ２及び支持部材９，９が荷支持部３により支持される荷Ｌと干渉しにくいので、大きさの異なる物流台車ＬＴ等が荷Ｌである場合であっても、その荷Ｌを搬送車１が搬送できる。
その上さらに、荷支持部３を昇降駆動する昇降駆動部４を基体２の２つの駆動輪Ｗ１，Ｗ１の間に設けていることから、２つの駆動輪Ｗ１，Ｗ１が並ぶ方向Ａ１と直交する水平方向の長さを短くできるので、スリムな物流台車ＬＴ等が荷Ｌである場合であっても、その荷Ｌを搬送車１が支持しながら狭い通路を移動できる。
その上、操舵部５の操舵による駆動輪Ｗ１の動作を従動輪Ｗ２に伝える操舵伝動部７を備える構成、又は従動輪Ｗ２が全方向車輪ＯＷである構成により、搬送車１の走行安定性を向上できる。 According to the transport vehicle 1 as described above, the distance D2 between the two driven wheels W2, W2 is smaller than the distance D1 between the two driving wheels W1, W1, and the steering shafts J1, J1 and Planar view center T of the driven wheels W2, W2 which are the rotation axes J2, J2 of the two driven wheels W2, W2 or the steering axes J1, J1 of the two drive wheels W1, W1 and the two omnidirectional wheels OW, OW , T are positioned in plane symmetry, and the two drive wheels W1, W1 are individually steered by the steering units 5, 5, so that the carrier 1 can move in all directions.
Moreover, the two driven wheels W1, W1 are supported by supporting members 9, 9 protruding from the bottom of the base body 2, and the driven wheels W2, W2 and the supporting members 9, 9 are supported by the load support portion 3. Since it is difficult to interfere with L, even if the cargo L is a physical distribution trolley LT or the like having a different size, the transport vehicle 1 can convey the cargo L.
In addition, since the elevation drive section 4 for driving the load support section 3 up and down is provided between the two drive wheels W1, W1 of the base body 2, the direction A1 in which the two drive wheels W1, W1 are arranged is perpendicular to the direction A1. Since the horizontal length can be shortened, even when the load L is a slim physical distribution vehicle LT or the like, the transport vehicle 1 can move the load L through a narrow passage while supporting it.
In addition, the traveling stability of the transport vehicle 1 is improved by a configuration including a steering transmission section 7 that transmits the motion of the drive wheels W1 by steering of the steering section 5 to the driven wheels W2, or by a configuration in which the driven wheels W2 are omnidirectional wheels OW. can improve.

以上の実施の形態の記載はすべてすべて例示であり、これに制限されるものではない。本発明の範囲から逸脱することなく種々の改良及び変更を施すことができる。 All of the above descriptions of the embodiments are examples, and the invention is not limited to these. Various modifications and changes may be made without departing from the scope of the invention.

１ 搬送車 ２ 基体
３ 荷支持部 ３Ａ 垂直部
３Ｂ フォーク部 ４ 昇降駆動部
５ 操舵部 ５Ａ 操舵用駆動装置
５Ｂ 小径ギヤ ５Ｃ 大径ギヤ
６ 走行駆動部 ７ 操舵伝動部
７Ａ スプロケット ７Ｂ 無端チェーン
７Ｃ スプロケット ７Ｄ 伝動軸
７Ｅ スプロケット ７Ｆ 無端チェーン
７Ｇ スプロケット ８ 遊動連結部
９ 支持部材 １０ ハウジング
１１ 円弧状長孔 １２ 丸孔
１３ カラー １４ ボルト
１５ ナット １６，１７ ボルト
１８ バレルフレーム １９ バレル
Ａ１ 駆動輪が並ぶ方向 Ａ２ 従動輪が並ぶ方向
Ｂ 中点 Ｃ 駆動輪の操舵軸を結ぶ直線
Ｄ１ 駆動輪の間隔 Ｄ２ 従動輪の間隔
Ｄ３ フォーク部の間隔 Ｅ 対称面
Ｆ 床材 Ｇ 直動ガイド
Ｈ 車輪 Ｉ 自在車輪
Ｊ１ 駆動輪の操舵軸 Ｊ２ 従動輪の回動軸
Ｋ 固定車輪 Ｌ 荷
ＬＴ 物流台車 Ｍ 六輪台車
Ｎ 位置検出器 ＯＷ 全方向車輪
Ｐ 旋回中心 Ｑ１，Ｑ２ 旋回半径
Ｒ１，Ｒ２ リング状部材 Ｓ 軸体
Ｔ 平面視中央 Ｗ１ 駆動輪
Ｗ２ 従動輪 Ｗ３ 副従動輪 Reference Signs List 1 carrier 2 base 3 load support 3A vertical section 3B fork section 4 lifting drive section 5 steering section 5A steering drive device 5B small diameter gear 5C large diameter gear 6 traveling drive section 7 steering transmission section 7A sprocket 7B endless chain 7C sprocket 7D Transmission shaft 7E Sprocket 7F Endless chain 7G Sprocket 8 Floating connecting portion 9 Supporting member 10 Housing 11 Circular long hole 12 Round hole 13 Collar 14 Bolt 15 Nut 16, 17 Bolt 18 Barrel frame 19 Barrel A1 Driving wheel alignment direction A2 Driven wheel direction B Midpoint C Straight line connecting the steering shafts of driving wheels D1 Interval between driving wheels D2 Interval between driven wheels D3 Interval between forks E Plan of symmetry F Floor material G Linear guide H Wheel I Swivel wheel J1 Steering of driving wheel Axis J2 Rotating axis of driven wheel K Fixed wheel L Load LT Logistics truck M Six-wheeled truck N Position detector OW Omnidirectional wheel P Turning center Q1, Q2 Turning radii R1, R2 Ring-shaped member S Shaft T Plan view center W1 Drive Wheel W2 Driven wheel W3 Secondary driven wheel

Claims (7)

基体に対して直動ガイドにより昇降可能にガイドされた、荷を支持する荷支持部と、
前記基体に支持され、所定の間隔で並んだ２つの駆動輪と、
前記基体の前記２つの駆動輪の間に設けた、前記荷支持部を昇降駆動する昇降駆動部と、
前記基体に設けた、前記駆動輪を別個に操舵する２つの操舵部と、
前記基体の下部から前記荷支持部が前記荷を支持する側へ突出する支持部材により支持され、前記駆動輪が並ぶ方向と平行に、所定の間隔で並んだ２つの従動輪と、
を備え、
前記２つの駆動輪の間隔よりも前記２つの従動輪の間隔は小さく、
前記２つの駆動輪の操舵軸間の中点を通り、前記２つの駆動輪の操舵軸を結ぶ直線に垂直な平面を対称面として、前記２つの従動輪の回動軸は面対称の位置にあり、
前記対称面を境にして同側にある前記駆動輪及び前記従動輪に対して、前記操舵部の操舵による前記駆動輪の動作を前記従動輪に伝える２つの操舵伝動部をさらに備えるとともに、
前記操舵伝動部により伝えられた前記駆動輪の操舵角と同じ操舵角を中心として、前記従動輪を所定の角度範囲内で遊動可能に連結する遊動連結部をさらに備えることを特徴とする、
搬送車。 a load supporting portion for supporting a load, which is guided up and down by a linear motion guide with respect to the base body;
two drive wheels supported by the base and arranged at a predetermined interval;
a lifting drive unit provided between the two drive wheels of the base body for driving the load support unit up and down;
two steering units provided on the base for separately steering the driving wheels;
two driven wheels which are supported by a support member projecting from a lower portion of the base body toward the side supporting the load, and which are arranged parallel to the direction in which the drive wheels are arranged, at a predetermined interval;
with
The distance between the two driven wheels is smaller than the distance between the two drive wheels,
The rotation axes of the two driven wheels are symmetrical with respect to a plane perpendicular to a straight line that passes through the midpoint between the steering axes of the two drive wheels and connects the steering axes of the two drive wheels as a plane of symmetry. Yes,
With respect to the driving wheels and the driven wheels on the same side with respect to the plane of symmetry, two steering transmission units are further provided for transmitting the operation of the driving wheels due to the steering of the steering unit to the driven wheels ,
It further comprises a floating coupling portion that movably couples the driven wheels within a predetermined angle range about the same steering angle as the steering angle of the driving wheels transmitted by the steering transmission portion ,
transport vehicle. 前記支持部材に、前記従動輪が並ぶ方向と平行で、且つ、前記従動輪が並ぶ間隔と同じ間隔で並び、前記対称面に関して面対称の位置にある、少なくとも２つの副従動輪をさらに備える、
請求項１に記載の搬送車。 The supporting member further comprises at least two secondary driven wheels that are parallel to the direction in which the driven wheels are arranged, are arranged at the same interval as the interval in which the driven wheels are arranged, and are symmetrically positioned with respect to the plane of symmetry,
The transport vehicle of claim 1 . 前記操舵伝動部は、前記操舵部によって操舵される前記駆動輪の操舵角と前記従動輪の操舵角とが同位相の関係になるように、前記駆動輪と前記従動輪とを連結する、
請求項１に記載の搬送車。 The steering transmission unit connects the driving wheels and the driven wheels such that the steering angle of the driving wheels steered by the steering unit and the steering angle of the driven wheels are in the same phase relationship.
The transport vehicle of claim 1 . 前記遊動連結部は、
前記従動輪の回動軸と同軸に配置した一対のリング状部材を備え、
前記リング状部材の一方は、前記操舵連動部の一部を成し、
前記リング状部材の他方は、前記従動輪を支持するハウジングに連結され、
前記リング状部材に、一方には円弧状長孔を、他方には、前記円弧状長孔に重なる丸孔を設け、
前記一対のリング状部材間にわたるように、前記円弧状長孔及び前記丸孔に挿通される軸体をさらに備える、
請求項１に記載の搬送車。 The floating connecting portion is
A pair of ring-shaped members arranged coaxially with the rotation shaft of the driven wheel,
one of the ring-shaped members forms a part of the steering interlocking portion,
the other of the ring-shaped members is connected to a housing that supports the driven wheel;
The ring-shaped member is provided with an arc-shaped elongated hole on one side and a round hole overlapping the arc-shaped elongated hole on the other side,
further comprising a shaft inserted through the arc-shaped elongated hole and the round hole so as to extend between the pair of ring-shaped members;
The transport vehicle of claim 1 . 前記荷は、矩形かつ平面形状からなる床材の少なくとも四隅に車輪を備えた物流台車に物品を積載したもの、又は空荷の前記物流台車であり、
前記荷支持部は、前記従動輪とともに、前記物流台車の床材の下側へ進入し、前記床材の下方から前記物流台車を支持する、
請求項１～４の何れか１項に記載の搬送車。 The load is a physical distribution truck having wheels on at least four corners of a rectangular flat flooring material loaded with goods, or an empty physical distribution truck;
The load support portion enters under the floor material of the physical distribution vehicle together with the driven wheel, and supports the physical distribution vehicle from below the floor material.
A transport vehicle according to any one of claims 1 to 4 . 前記荷支持部は、
前記直動ガイドによりガイドされる垂直部と、
前記垂直部の下端から略水平に伸び、前記駆動輪が並ぶ方向と平行な方向に離間した、前記荷を支持する一対のフォーク部と
からなり、
前記一対のフォーク部の間隔は、前記２つの駆動輪の間隔以下で、且つ、前記従動輪の間隔以上である、
請求項１～５の何れか１項に記載の搬送車。 The load-bearing part is
a vertical portion guided by the linear motion guide;
a pair of fork portions extending substantially horizontally from the lower end of the vertical portion and spaced apart in a direction parallel to the direction in which the drive wheels are arranged, for supporting the load;
The distance between the pair of fork parts is less than or equal to the distance between the two driving wheels and greater than or equal to the distance between the driven wheels.
A transport vehicle according to any one of claims 1 to 5 . 前記荷は、矩形かつ平面形状からなる床材の四隅に自在車輪を備えるとともに、前記床材の長辺部の中央に固定車輪をさらに備えた六輪台車に物品を積載したもの、又は空荷の前記六輪台車であり、
前記一対のフォーク部の各々は、前記従動輪とともに、前記床材の長手方向に隣り合う、前記自在車輪と前記固定車輪との間における前記床材の下側へ進入し、前記床材の下方から前記六輪台車を支持する、
請求項６に記載の搬送車。 The cargo is a six-wheeled trolley equipped with free wheels at the four corners of the rectangular flat floor material and a fixed wheel at the center of the long side of the floor material, or an empty vehicle. The six-wheel truck,
Each of the pair of fork portions, together with the driven wheel, enters below the flooring material between the swivel wheel and the fixed wheel, which are adjacent in the longitudinal direction of the flooring material, to the lower side of the flooring material. supporting the six-wheeled truck from
The vehicle according to claim 6 .
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