Carrier vehicle

A carrier vehicle can be used for a plurality of purposes. A carrier vehicle (100) according to the disclosure includes a flat plate (120) and a moving section (130). A through-hole (122p) is provided in the flat plate (120). The moving section (130) causes the flat plate (120) to move. The moving section (120) is switched among a reference mode in which the flat plate (120) is caused to move to a reference position, a penetrating mode in which the through-hole (122p) of the flat plate (120) is penetrated through, and a moving mode in which the flat plate (120) is caused to move from the reference position to a moving position without penetrating through the through-hole (122p) of the flat plate (120).

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the priority benefits of Japan Patent Application No. 2018-039618, filed on Mar. 6, 2018. The entirety of each of the above-mentioned patent applications is hereby incorporated by reference herein and made a part of this specification.

BACKGROUND

Technical Field

The present disclosure relates to a carrier vehicle.

Description of Related Art

Carrying of packages is often performed by carrier vehicles. For example, packages are carried by causing unmanned carrier vehicles (automated guided vehicle (AGV)) to travel in plants.

Towing a dedicated trolley with an unmanned carrier vehicle is known (see Patent Document 1, for example). The unmanned carrier vehicle described in Patent Document 1 tows the dedicated trolley with the unmanned carrier vehicle by butting a towing pin of the unmanned carrier vehicle on a towing flap of the dedicated trolley.

PATENT DOCUMENTS

However, the unmanned carrier vehicle described in Patent Document 1 can only tow the dedicated trolley and cannot be applied to other purposes.

The disclosure provides a carrier vehicle that can be applied to a plurality of purposes.

SUMMARY

A carrier vehicle described as an example of the disclosure includes a flat plate and a moving section. A through-hole is provided in the flat plate. The moving section causes the flat plate to move. The moving section is switched among a reference mode in which the flat plate is caused to move to a reference position, a penetrating mode in which the through-hole in the flat plate is penetrated through, and a moving mode in which the flat plate is caused to move from the reference position to a moving position without penetrating through the through-hole in the flat plate.

DESCRIPTION OF THE EMBODIMENTS

According to the disclosure described as an example, it is possible to use the carrier vehicle for a plurality of purposes.

Hereinafter, an embodiment of a carrier vehicle according to the disclosure will be described with reference to drawings. Note that the same reference numerals will be given to the same or corresponding portions in the drawings, and description thereof will not be repeated. Also, an X axis, a Y axis, and a Z axis that are orthogonal to each other may be described for easy understanding of the disclosure in the specification. The X axis and the Y axis are in parallel to each other in the horizontal direction, and the Z axis is in parallel to the vertical direction.

Referring toFIG. 1, a carrier vehicle100according to the embodiment will be described.FIG. 1is a schematic perspective view illustrating the carrier vehicle100. The carrier vehicle100travels. For example, the carrier vehicle100can carry a heavy load of equal to or greater than 10 kg and equal to or less than 5000 kg. For example, the carrier vehicle100may freely travel on a floor. Alternatively, the carrier vehicle100may travel along a predefined guide member (for example, a track).

For example, the carrier vehicle100is an unmanned carrier vehicle. The carrier vehicle100may travel in accordance with a program determined in advance. Alternatively, the carrier vehicle100may travel in accordance with a user's remote operation via communication.

Here, the carrier vehicle100extends in a longitudinal direction (X direction). For example, the length of the carrier vehicle100in the longitudinal direction is equal to or greater than 300 mm and equal to or less than 10 m.

In addition, the height of the carrier vehicle100(the length in the Z direction) here is shorter than the length of the carrier vehicle100(the length in the X direction) and the width of the carrier vehicle100(the length in the Y direction). In this case, the carrier vehicle100can enter a relatively low space. For example, the height of the carrier vehicle100is equal to or greater than 50 mm and equal to or less than 1 m. The height of the carrier vehicle100is preferably equal to or greater than 100 mm and equal to or less than 300 mm. However, the height of the carrier vehicle100(the length in the Z direction) may be greater than at least one of the length of the carrier vehicle100(the length in the X direction) and the width of the carrier vehicle100(the length in the Y direction).

The carrier vehicle100includes a case body110, a flat plate120, a first moving section130, and a second moving section140. The case body110defines an outer shape of the carrier vehicle100. The case body110extends in the longitudinal direction (Y direction). Also, the height of the case body110(the length in the Z direction) is smaller than the length of the case body110(the length in the X direction) and the width of the case body110(the length in the Y direction).

As for the carrier vehicle100illustrated inFIG. 1, the length of the case body110(the length in the X direction) is longer than the width of the case body110(the length in the Y direction). However, the length of the case body110(the length in the X direction) may be substantially equal to the width of the case body110(the length in the Y direction).

The flat plate120is placed on the case body110. A through-hole is provided at the upper center of the case body110. The flat plate120is fitted into the through-hole at the upper center of the case body110. The flat plate120can be separately detached from the case body110. As for the carrier vehicle100illustrated inFIG. 1, the height of the flat plate120(the position in the Z direction) is substantially equal to the height of the upper surface of the case body110(the position in the Z direction).

For example, the length of the flat plate120(the length in the X direction) may be substantially equal to the width of the flat plate120(the length in the Y direction). For example, the length (the length in the X direction) and the width (the length in the Y direction) of the flat plate120is equal to or greater than 200 mm and equal to or less than 9 m and may be equal to or greater than 400 mm and equal to or less than 1 m. Note that the length of the flat plate120(the length in the X direction) may be different from the width of the flat plate120(the length in the Y direction).

A first through-hole122pand a second through-hole124pthat penetrate through the flat plate120in the thickness direction (Z direction) are provided in the flat plate120. The first through-hole122pand the second through-hole124pare aligned in the X direction. The first through-hole122pis located on the side of the −X direction, and the second through-hole124pis located on the side of the +X direction. For example, the opening diameter of the first through-hole122pand the second through-hole124pis equal to or greater than 10 mm and equal to or less than 200 mm and may be equal to or greater than 20 mm and equal to or less than 100 mm.

The flat plate120has a peripheral portion120aand a central portion120b. The peripheral portion120ais located at the surroundings of the central portion120b. Here, the first through-hole122pand the second through-hole124pare provided at the central portion120b. The central portion120bcan be detached from the peripheral portion120a.

The first moving section130and the second moving section140move relative to the flat plate120. Here, the first moving section130and the second moving section140are located on the lower side in the vertical direction (−Z direction) of the flat plate120. Specifically, the first moving section130and the second moving section140are located on the lower side in the vertical direction (−Z direction) of the central portion120bof the flat plate120.

The first moving section130and the second moving section140can move the flat plate120in the Z direction. For example, the first moving section130and the second moving section140can lift the flat plate120in the +Z direction. Also, the first moving section130and the second moving section140can lower the flat plate120in the −Z direction.

A part of the first moving section130and a part of the second moving section140are exposed from the flat plate120. The first moving section130has a first tip end132d. A part of the first tip end132dof the first moving section130is exposed from the first through-hole122pof the flat plate120. In addition, the second moving section140has a second tip end142d. A part of the second tip end142dof the second moving section140is exposed from the second through-hole124pof the flat plate120. Details of the first moving section130and the second moving section140will be described later.

The carrier vehicle100preferably further includes an operation section150. It is possible to operate the carrier vehicle100with the operation section150. The operation section150is provided at an end on the side of the −X direction and an end on the side of the +X direction of the case body110. For example, the operation section150includes a first operation section150aand the second operation section150b. The first operation section150ais provided at an end of the case body110on the side of the −X direction, and the second operation section150bis provided at an end of the case body110on the side of the +X direction. Therefore, it is possible to easily operate the carrier vehicle100even after the carrier vehicle100collides against a wall in the course of carrying a carried article (package) with a large volume using the carrier vehicle100since either the first operation section150aor the second operation section150bis not interposed between the carried article and the wall and can be operated.

The first operation section150ahas a stop button152a, a reset button152b, a lifting button152c, and a lowering button152d. The stop button152ais used to stop traveling of the carrier vehicle100that is traveling. In a case in which a person enters the surroundings of the carrier vehicle100that is traveling, for example, it is possible to stop the traveling of the carrier vehicle100by pressing the stop button152a.

The reset button152bis used to reset a control program for the carrier vehicle100. If the reset button152bis pressed, the program for the carrier vehicle100that is traveling is reset. For example, the reset button152bis suitably used after the carrier vehicle100is urgently stopped or after the stop button152ais pressed.

The lifting button152cis used to move the first moving section130and the second moving section140. If the lifting button152cis pressed, the first moving section130and the second moving section140are lifted. The lowering button152dis used to move the first moving section130and the second moving section140. If the lowering button152dis pressed, the first moving section130and the second moving section140are lowered. Details of lifting and lowering of the first moving section130and the second moving section140will be described later.

The case body110has an essentially rectangular parallelepiped shape with a through-hole provided in the upper surface and with a recessed lower surface. The case body110has an upper surface110a, a side surface110b, a side surface110c, a side surface110d, a side surface110e, and a bottom surface110f. A through-hole is provided in the upper surface110a. The flat plate120is fitted into the through-hole in the upper surface110a.

The side surface110bextends in the Y direction. The first operation section150aof the operation section150is provided on the side surface110b. Also, a bumper111ais attached to a lower side of the side surface110b. If the bumper111acollides with an obstacle during the traveling of the carrier vehicle100, the traveling of the carrier vehicle100is stopped.

The side surface110cextends in the X direction. A power switch156is provided on the side surface110c. A power state of the carrier vehicle100is switched by switching the power switch156.

The side surface110dextends in the Y direction. The side surface110dis substantially parallel to the side surface110b. The second operation section150bof the operation section150is provided on the side surface110d. Also, the side surface110eextends in the X direction. The side surface110eis substantially parallel to the side surface110c.

Note that a sensor168ais provided at a boundary between the side surface110band the side surface110c. A sensor168bis provided at a boundary between the side surface110dand the side surface110e. The sensor168ameasures a distance between the sensor168aand a target. Specifically, the sensor168ameasures a distance between an object located in the surroundings of the side surface110band the side surface110cand the sensor168a. Similarly, the sensor168bmeasures the distance between the sensor168band the target. The sensor168bmeasures a distance between an object located in the surroundings of the side surface110dand the side surface110eand the sensor168b.

The sensor168aand the sensor168bhave output sections and light receiving sections. For example, the output sections output laser light, and the light receiving sections receive laser light reflected by the object. Here, the sensor168aand the sensor168bare arranged at positions on the case body110at which the sensor168aand the sensor168bface each other. In this manner, it is possible to detect the surroundings of the carrier vehicle100with a small number of sensors.

FIG. 2is another schematic perspective view of the carrier vehicle100. As described above, the second operation section150bof the operation section150is provided on the side surface110d. The second operation section150bhas a stop button154a, a reset button154b, a lifting button154c,and a lowering button154d.

The second operation section150bcan operate the carrier vehicle100similarly to the first operation section150a. For example, operations using the stop button154a, the reset button154b, the lifting button154c, and the lowering button154dare the same as the operations using the stop button152a, the reset button152b, the lifting button152c, and the lowering button152d. Therefore, it is possible to easily operate the carrier vehicle100even after the carrier vehicle100collides against a wall in the course of carrying a carried article (package) with a large volume using the carrier vehicle100since either the first operation section150aand the second operation section150bcan perform all the operations without being interposed between the carried article and the wall.

A bumper111bis attached to the lower side of the side surface110d. If the bumper111bcollides against an obstacle during traveling of the carrier vehicle100, traveling of the carrier vehicle100is stopped.

Further, a display lamp162band a display lamp164bare provided on the side surface110d. The display lamp162bis located on the side of the +Y direction on the side surface110d, and the display lamp164bis located on the side of the −Y direction on the side surface110b. The display lamp162bis turned on or blinked when the carrier vehicle100travels in the +X direction and the +Y direction. The display lamp164bis turned on or blinked when the carrier vehicle100travels in the +X direction and the −Y direction.

A charging section160aand a charging section160bare provided on the side surface110e. The charging section160aand the charging section160bcharge the energy of the carrier vehicle100. The charging section160acharges the carrier vehicle100in a scheme that is different from that of the charging section160b. For example, the charging section160acharges the carrier vehicle100in a plug scheme. The charging section160bcharges the carrier vehicle100in a contact scheme.

As will be understood fromFIGS. 1 and 2, the upper surface110aof the case body110of the carrier vehicle100are linearly symmetric with respect to the center line in parallel to the Y direction. Also, the side surface110band the side surface110dof the case body110of the carrier vehicle100are linearly symmetric with respect to the center line in parallel to the Y direction.

FIG. 3is a schematic bottom view illustrating the carrier vehicle100according to the embodiment. As illustrated inFIG. 3, a wheel182a, a wheel182b, a wheel182c, a wheel182d, a drive wheel184a, a drive wheel184b, a motor186a, and a motor186bare attached to the bottom surface110fof the case body110.

The wheel182a, the wheel182b, the wheel182c, and the wheel182dare so-called casters and are driven in accordance with drive of the drive wheel184aand the drive wheel184b. The wheel182ais located on the side of the +X direction and the −Y direction relative to the center of the bottom surface110f, and the wheel182bis located on the side of the −X direction and the −Y direction relative to the center of the bottom surface110f. The wheel182cis located on the side of the −X direction and the +Y direction relative to the center of the bottom surface110f, and the wheel182dis located on the side of the +X direction and the +Y direction relative to the center of the bottom surface110f.

The drive wheel184ais coupled to the motor186aand is driven by drive force of the motor186a. In addition, the drive wheel184bis coupled to the motor186band is driven by drive force of the motor186b. The drive wheel184ais located at the center of the bottom surface110fin the X direction and on the side of the −Y direction. The drive wheel184bis located at the center of the bottom surface110fin the X direction and on the side of the +Y direction.

The motor186ais located at the center in the X direction and on the side of the −Y direction relative to the center of the bottom surface110f. The motor186bis located at the center in the X direction and on the side of the +Y direction relative to the center of the bottom surface110f.

The carrier vehicle100according to the embodiment is switched among three modes. Specifically, the carrier vehicle100according to the embodiment is switched among a reference mode, a penetrating mode, and a moving mode, and positional relationships of the flat plate120, the first moving section130, and the second moving section140change in accordance with the switching of the modes. The modes of the carrier vehicle100are switched in accordance with switching of the mode of the first moving section130and the second moving section140.

The first moving section130and the second moving section140move differently relative to the flat plate120in accordance with the modes. The first moving section130and the second moving section140are switched among the reference mode, the penetrating mode, and the moving mode. In the reference mode, the first moving section130and the second moving section140move the flat plate120to a reference position. In the penetrating mode, at least a part of the first moving section130penetrates through the first through-hole122pin the flat plate120, and at least a part of the second moving section140penetrates through the second through-hole124pof the flat plate120. In the moving mode, the first moving section130and the second moving section140move the flat plate120from the reference position to the moving position without penetrating through the first through-hole122pand the second through-hole124pin the flat plate120. Since it is possible to switch the carrier vehicle100according to the embodiment among the plurality of modes in this manner, it is possible to use the carrier vehicle100for a plurality of purposes.

First, the carrier vehicle100in the reference mode according to the embodiment will be described with reference toFIGS. 1, 2, and 4 to 6. Note thatFIGS. 1 and 2referred to for the above description are perspective views of the carrier vehicle100in the reference mode.

FIG. 4is a schematic side view illustrating the carrier vehicle100in the reference mode. When the carrier vehicle100in the reference mode is seen from the side surface as illustrated inFIG. 4, the upper surface110aof the case body110is seen while the flat plate120is hidden by the upper surface110aand is not seen. In the reference mode, the flat plate120is fitted into the through-hole in the upper surface110aof the case body110.

FIG. 5is a schematic sectional view illustrating the carrier vehicle100in the reference mode, andFIG. 6is another schematic sectional view illustrating the carrier vehicle100in the reference mode. As illustrated inFIGS. 5 and 6, the first moving section130, the second moving section140, a motor driver192, a circuit board194, and a storage battery196are arranged inside the case body110of the carrier vehicle100. The motor driver192drives the motor186aand the motor186b(FIG. 3).

The circuit board194includes a processor. The processor may include a central processing unit (CPU). Alternatively, the processor may include a microcomputer. Alternatively, the processor may include an integrated circuit for a specific purpose.

The storage battery196accumulates electrical energy. The storage battery196accumulates the electrical energy received from the charging section160aand the charging section160b(FIG. 2). The electric energy of the storage battery196is used to drive the motor186a, the motor186b, the motor driver192, and the circuit board194.

The first moving section130includes an actuator132. The second moving section140includes an actuator142. For example, the actuator132and the actuator142include hydraulic cylinders.

A pump135drives the actuator132and the actuator142. The actuator132and the actuator142move in accordance with a hydraulic pressure generated by the pump135. Note that although the actuator132and the actuator142here are driven by the common pump135, the actuator132and the actuator142may be driven by different pumps.

The actuator132has a shape in which an upper portion of a conical shape and a lower portion of a substantially columnar shape are integrated. The actuator132has a securing section132aand an outer peripheral portion132b. The securing section132ahas a columnar shape. The outer peripheral portion132bhas a cylindrical shape with a conical shape provided at the tip end thereof, and the outer peripheral portion132bis arranged at an outer periphery of the securing section132a. The outer peripheral portion132bmoves relative to the securing section132a.

The outer peripheral portion132bhas a main body132c, a first tip end132d, a first flange section132e,and a second flange section132f.The first tip end132dhas a conical shape. The first tip end132dis provided at the main body132con the side of the +Z direction, and the first tip end132dis located at the tip end of the actuator132. The outer diameter (the length in the X direction) of the first tip end132dof the actuator132is smaller than the opening diameter of the first through-hole122pof the flat plate120. As illustrated inFIGS. 1 and 2, a part of the first tip end132dis exposed from the first through-hole122pin the flat plate120.

As illustrated inFIG. 6, the first flange section132eis located at the boundary between the main body132cand the first tip end132d. The outer diameter of the first flange section132e(the length in the X direction) is greater than the outer diameter of the main body132c(the length in the X direction). The outer diameter of the first flange section132e(the length in the X direction) is greater than the opening diameter of the first through-hole122p.

The second flange section132fis located at the center of the main body132cextending in the Z direction. The outer diameter of the second flange section132f(the length in the X direction) is greater than the outer diameter of the main body132c(the length in the X direction).

The actuator132is placed in the first placement chamber112. The first placement chamber112is located below the flat plate120. The securing section132aof the actuator132is attached to a bottom surface of the first placement chamber112. A through-hole112pis provided at an upper portion of the first placement chamber112. The through-hole112pof the first placement chamber112communicates with the first through-hole122pin the flat plate120. The opening diameter of the through-hole112pof the first placement chamber112(the length in the X direction) is greater than the outer diameter of the first tip end132dof the actuator132(the length in the X direction).

The actuator142has a shape in which an upper portion of a conical shape and a lower portion of a substantially columnar shape are integrated. The actuator142has a securing section142aand an outer peripheral portion142b. The securing section142ahas a columnar shape. The outer peripheral portion142bhas a cylindrical shape with a conical shape provided at the tip end, and the outer peripheral portion142bis arranged at an outer periphery of the securing section142a. The outer peripheral portion142bmoves relative to the securing section142a.

The outer peripheral portion142bhas a main body142c, a second tip end142d, a first flange section142e,and a second flange section142f.The second tip end142dhas a conical shape. The second tip end142dis provided at the main body142con the side of the +Z direction, and the second tip end142dis located at the tip end of the actuator142.

The first flange section142eis located at a boundary between the main body142cand the second tip end142d. The outer diameter of the first flange section142e(the length in the X direction) is greater than the outer diameter of the main body142c(the length in the X direction). The second flange section142fis located at the center of the main body142cextending in the Z direction. The outer diameter of the first flange section142e(the length in the X direction) is greater than the opening diameter of the second through-hole124pof the flat plate120(the length in the X direction).

The actuator142is placed in a second placement chamber114. The second placement chamber114is located below the flat plate120. The securing section142aof the actuator142is attached to a bottom surface of the second placement chamber114. A through-hole114pis provided at an upper portion of the second placement chamber114. The through-hole114pof the second placement chamber114communicates with the second through-hole124pin the flat plate120. The opening diameter of the through-hole114pof the second placement chamber114(the length in the X direction) is greater than the outer diameter of the second tip end142dof the actuator142(the length in the X direction).

Note that the first moving section130preferably further includes a spring134as illustrated inFIGS. 5 and 6. The spring134is arranged in the first placement chamber112. One end of the spring134is attached to the upper surface of the first placement chamber112, and the other end of the spring134is attached to the second flange section132f.

Similarly, the second moving section140preferably further includes a spring144. The spring144is arranged in the second placement chamber114. One end of the spring144is attached to an upper surface of the second placement chamber114, and the other end of the spring144is attached to the second flange section142f.

Note that a spring126is placed between the flat plate120and a plate member extending from the side surface of the second placement chamber114in the +Y direction. One end of the spring126is attached to a rear surface of the flat plate120, and the other end of the spring126is attached to the plate member extending from the side surface of the second placement chamber114.

In a case in which the carrier vehicle100is in the reference mode, the first moving section130and the second moving section140causes the flat plate120to move to the reference position. In this case, the height of the flat plate120(the position in the Z direction) can be equal to the height of the upper surface110aof the case body110(the position in the Z direction). Therefore, the carrier vehicle100can place a carried article on larger areas of the upper surface110aand the flat plate120and carry the carried article.

Next, the carrier vehicle100in the penetrating mode according to the embodiment will be described with reference toFIGS. 7 to 9.FIG. 7is a schematic side view illustrating the carrier vehicle100in the penetrating mode,FIG. 8is a schematic sectional view illustrating the carrier vehicle100in the penetrating mode, andFIG. 9is another schematic sectional view of the carrier vehicle100in the penetrating mode. In the penetrating mode, the first tip end132dof the first moving section130and the second tip end142dof the second moving section140penetrate through the flat plate120in the carrier vehicle100. In the penetrating mode, the first tip end132dof the first moving section130and the second tip end142dof the second moving section140that penetrate through the flat plate120are suitably used to tow the carried article.

As illustrated inFIG. 7, the first tip end132dof the first moving section130and the second tip end142dof the second moving section140penetrate through the flat plate120in the penetrating mode. However, the first tip end132dof the first moving section130is covered with a cup S1with a hollow shape, and the second tip end142dof the second moving section140is covered with a cup S2with a hollow shape inFIG. 7. The cup S1and the cup S2are attached to the carried article. Note that although the height of the flat plate120(the position in the Z direction) is substantially the same as the height of the upper surface110aof the case body110(the position in the Z direction) in the reference mode, the height of the flat plate120(the position in the Z direction) is higher than the height of the upper surface110aof the case body110(the position in the Z direction) in the penetrating mode.

As illustrated inFIGS. 8 and 9, the first moving section130and the second moving section140move relative to the flat plate120in the penetrating mode, and as a result, the first tip end132dof the first moving section130penetrates through the first through-hole122pof the flat plate120. Note that since the outer diameter of the first flange section132e(the length in the X direction) is greater than the opening diameter of the first through-hole122p, the first flange section132edoes not penetrate through the first through-hole122p. Therefore, the first tip end132dlocated on the upper side than the first flange section132ein the vertical direction penetrates through the first through-hole122pof the flat plate120. Therefore, it is possible to allow only a part of the first moving section130to penetrate through the first through-hole122pin the flat plate120with a simple configuration.

Also, the second tip end142dof the second moving section140similarly penetrates through the second through-hole124pin the flat plate120. Note that since the outer diameter of the first flange section142e(length in the X direction) is greater than the opening diameter of the second through-hole124p, the first flange section142edoes not penetrate through the second through-hole124p. Therefore, the second tip end142dlocated on the upper side than the first flange section142ein the vertical direction penetrates through the second through-hole124pin the flat plate120. Therefore, it is possible to allow only a part of the second moving section140to penetrate through the second through-hole124pin the flat plate120with a simple configuration.

Specifically, if the reference mode changes to the penetrating mode, the outer peripheral portion132bof the actuator132moves relative to the securing section132aby the pump135increasing the hydraulic pressure. Here, the outer peripheral portion132bis lifted relative to the securing section132a. Therefore, the first tip end132dof the first moving section130penetrates through the through-hole112pof the first placement chamber112and the first through-hole122pin the flat plate120and appears above the flat plate120.

Similarly, if the reference mode changes to the penetrating mode, the outer peripheral portion142bof the actuator142moves relative to the securing section142aby the pump135increasing the hydraulic pressure. Here, the outer peripheral portion142bis lifted relative to the securing section142a. Therefore, the second tip end142dof the second moving section140penetrates through the through-hole114pof the second placement chamber114and the second through-hole124pin the flat plate120and appears above the flat plate120.

In a case in which the carrier vehicle100is in the penetrating mode, the first tip end132dof the first moving section130penetrates through the first through-hole122pin the flat plate120, and the second tip end142dof the second moving section140penetrates through the second through-hole124pin the flat plate120. In this case, the carrier vehicle100can carry the carried article using the first tip end132dof the first moving section130penetrating through the first through-hole122pof the flat plate120and the second tip end142dof the second moving section140penetrating through the second through-hole124p. In a case in which the carried article itself has wheels, for example, it is possible to tow the carried article by the carrier vehicle100by hooking a part of the carried article at the first tip end132dof the first moving section130and/or the second tip end142dof the second moving section140.

Note that in a case in which the first tip end132dof the actuator132penetrates through the first through-hole122pof the flat plate120, it is possible to appropriately adjust whether or not the flat plate120is to be moved. In a case in which the distance between the flat plate120and the first flange section132eat the reference position is longer than the moving distance of the actuator132, for example, even if the first tip end132dof the actuator132penetrates through the first through-hole122pin the flat plate120, the first flange section132eof the actuator132is not brought into contact with the flat plate120, and the flat plate120does not move. Therefore, in a case in which the distance between the flat plate120and the first flange section132eat the reference position is longer than the maximum moving distance of the actuator132, even if the first tip end132dof the actuator132penetrates through the first through-hole122pin the flat plate120, the first flange section132eof the actuator132is not brought into contact with the flat plate120, and the flat plate120does not move.

Similarly, in a case in which the second tip end142dof the actuator142penetrates through the second through-hole124pin the flat plate120, it is possible to appropriately adjust whether or not the flat plate120is to be moved. In a case in which the distance between the flat plate120and the first flange section142eat the reference position is longer than the moving distance of the actuator142, for example, even if the second tip end142dof the actuator142penetrates through the first through-hole122pin the flat plate120, the first flange section142eof the actuator142is not brought into contact with the flat plate120, and the flat plate120does not move. Therefore, in a case in which the distance between the flat plate120and the first flange section142eat the reference position is longer than the maximum moving distance of the actuator142, even if the second tip end142dof the actuator142penetrates through the first through-hole122pin the flat plate120, the first flange section142eof the actuator142is not brought into contact with the flat plate120, and the flat plate120does not move. In this manner, it is possible to adjust the moving of the flat plate120in the penetrating mode in accordance with the distance between the flat plate120and the first flange section132eand the first flange section142eat the reference position.

Note that the flat plate120further has an end120cin addition to the peripheral portion120aand the central portion120bas illustrated inFIGS. 8 and 9. The peripheral portion120aand the central portion120bexpand in the X direction and the Y direction. The end120cof the flat plate120extends in the −Z direction relative to the peripheral portion120a. Note that in a case in which the flat plate120moves in the penetrating mode, the length of the end120cin the Z direction is preferably equal to or greater than the moving distance of the flat plate120. In this case, even after the reference mode changes to the penetrating mode and the position of the flat plate120moves, substantially no gap occurs between the flat plate120and the upper surface110aof the case body110after moving, and it is possible to curb entrance of foreign matters and the like to the inside of the carrier vehicle100.

Note that as will be understood from comparison betweenFIGS. 5 and 6in the reference mode andFIGS. 8 and 9in the penetrating mode, the hydraulic pressure from the pump135to the actuator132is switched to off, and the outer peripheral portion132bof the actuator132is lowered to the securing section132ain a case in which the penetrating mode returns to the reference mode. In this case, it is possible to easily lower the outer peripheral portion132bof the actuator132with the spring134and to return the first moving section130to the reference position in a short period.

Similarly, in a case in which the penetrating mode returns to the reference mode, the hydraulic pressure from the pump135to the actuator142is switched to off, and the outer peripheral portion142bof the actuator142is lowered to the securing section142a. In this case, it is possible to easily lower the outer peripheral portion142bof the actuator142with the spring144and to return the second moving section140to the reference position in a short term.

Further, in a case in which the penetrating mode is returned to the reference mode, the hydraulic pressure from the pump135to the actuator142is switched to off, and the outer peripheral portion142bof the actuator142is lowered to the securing section142a. In this case, it is possible to easily lower the flat plate120with the spring126and to return the flat plate120to the reference position in a short term.

Note that although the first tip end132dof the first moving section130penetrates through the first through-hole122pin the flat plate120and the second tip end142dof the second moving section140penetrates through the second through-hole124pin the flat plate120if the first moving section130and the second moving section140of the carrier vehicle100move in the above description, the disclosure is not limited thereto. The first moving section130may have a member that curbs penetration of the first tip end132dof the first moving section130through the first through-hole122pin the flat plate120. The second moving section140may have a member that curbs penetration of the second tip end142dof the second moving section140through the second through-hole124pin the flat plate120.

Hereinafter, the carrier vehicle100according to the embodiment will be described with reference toFIGS. 10 and 11.FIG. 10is a schematic sectional view illustrating the carrier vehicle100in the reference mode, andFIG. 11is another schematic sectional view illustrating the carrier vehicle100in the reference mode. The carrier vehicle100illustrated inFIGS. 10 and 11has a configuration similar to that of the carrier vehicle100described above with reference toFIGS. 5 and 6other than that the first moving section130further has a penetration curbing member136and the second moving section140further has a penetration curbing member146. In the following description, repeated description may be omitted in order to avoid redundancy.

The first moving section130further has the penetration curbing member136in addition to the actuator132and the spring134. The penetration curbing member136is attached to the first tip end132dof the actuator132. For example, the penetration curbing member136can be attached to the first tip end132dof the actuator132in a state in which the central portion120bof the flat plate120is removed from the peripheral portion120a.

Note that the outer diameter of the first tip end132dof the first moving section130is smaller than the opening diameter of the first through-hole122pin the flat plate120as described above. Meanwhile, the outer diameter of at least a part of the penetration curbing member136is greater than the opening diameter of the first through-hole122pin the flat plate120.

Here, the outer diameter of the upper portion (on the side of the +Z direction) of the penetration curbing member136is smaller than the opening diameter of the first through-hole122pin the flat plate120, and the outer diameter of the lower portion (on the side of the −Z direction) of the penetration curbing member136is greater than the opening diameter of the first through-hole122pin the flat plate120. In this manner, one step difference is provided at the outer periphery of the penetration curbing member136.

As described above, the penetration curbing member136is attached to the first tip end132dcapable of penetrating through the first through-hole122pin the flat plate120in the first moving section130. The penetration curbing member136curbs penetration of the first tip end132dthrough the first through-hole122pin the flat plate120. Therefore, it is possible to easily switch whether or not the first tip end132dpenetrates through the first through-hole122pin the flat plate120by attaching and detaching the penetration curbing member136to the first tip end132dof the first moving section130.

The second moving section140further has the penetration curbing member146in addition to the actuator142and the spring144. The penetration curbing member146is attached to the second tip end142dof the actuator142. For example, the penetration curbing member146can be attached to the second tip end142dof the actuator142in a state in which the central portion120bof the flat plate120is removed from the peripheral portion120a.

As described above, the outer diameter of the second tip end142dof the second moving section140is smaller than the opening diameter of the second through-hole124pin the flat plate120. Meanwhile, the outer diameter of at least a part of the penetration curbing member146is greater than the opening diameter of the second through-hole124pin the flat plate120.

Here, the outer diameter of the upper portion (on the side of the +Z direction) of the penetration curbing member146is smaller than the opening diameter of the first through-hole122pin the flat plate120, and the outer diameter of the lower portion (on the side of the −Z direction) of the penetration curbing member146is greater than the opening diameter of the first through-hole122pin the flat plate120. In this manner, one step difference is provided at the outer periphery of the penetration curbing member146.

As described above, the penetration curbing member146is attached to the second tip end142dcapable of penetrating through the second through-hole124pin the flat plate120in the second moving section140. The penetration curbing member146curbs penetration of the second tip end142dthrough the second through-hole124pin the flat plate120. Therefore, it is possible to easily switch whether or not the second tip end142dpenetrates through the second through-hole124pin the flat plate120by attaching and detaching the penetration curbing member146to and from the second tip end142dof the second moving section140.

Note that although the first moving section130moves and the first tip end132dof the first moving section130penetrates through the first through-hole122pin the flat plate120, and the second moving section140moves and the second tip end142dof the second moving section140penetrates through the second through-hole124pin the flat plate120in the description given with reference toFIGS. 7 to 9, the disclosure is not limited thereto. The first moving section130may move the flat plate120from the reference position to the moving position without penetrating through the first through-hole122pin the flat plate120, and the second moving section140may move the flat plate120from the reference position to the moving position without penetrating through the second through-hole124pin the flat plate120.

Next, the carrier vehicle100in the moving mode according to the embodiment will be described with reference toFIGS. 12 to 14.FIG. 12is a schematic side view illustrating the carrier vehicle100in the moving mode.FIG. 13is a schematic sectional view illustrating the carrier vehicle100in the moving mode, andFIG. 14is another schematic sectional view illustrating the carrier vehicle100in the moving mode.

In a case in which the reference mode changes to the moving mode, the flat plate120moves from the upper surface110aof the case body110to the upper side as illustrated inFIG. 12.

As illustrated inFIGS. 13 and 14, the first moving section130is located at the moving position, and the second moving section140is located at the moving position in the moving mode. Here, the moving position of the first moving section130is located on the upper side in the vertical direction (+Z direction) relative to the reference position, and the moving position of the second moving section140is located on the upper side in the vertical direction (+Z direction) relative to the reference position.

In the moving mode, the first moving section130causes the flat plate120to move along with the penetration curbing member136. In this manner, even if the outer diameter of the first tip end132dof the first moving section130is smaller than the opening diameter of the first through-hole122pof the flat plate120, it is possible to move the flat plate120without allowing the first tip end132dof the first moving section130to penetrate through the first through-hole122pin the flat plate120.

Similarly, in the moving mode, the second moving section140causes the flat plate120to move along with the penetration curbing member146. In this manner, even if the outer diameter of the second tip end142dof the second moving section140is smaller than the opening diameter of the second through-hole124pin the flat plate120, it is possible to move the flat plate120without allowing the second tip end142dof the second moving section140to penetrate through the second through-hole124pin the flat plate120.

As will be understood from comparison betweenFIGS. 10 and 11andFIGS. 13 and 14, the first moving section130moves from the reference position to the moving position, and the second moving section140moves from the reference position to the moving position in a case in which the reference mode changes to the moving mode.

Here, if the reference mode changes to the moving mode, the outer peripheral portion132bof the actuator132moves relative to the securing section132aby the pump135increasing the hydraulic pressure. The outer peripheral portion132bis lifted relative to the securing section132a. Since the penetration curbing member136attached to the first tip end132dof the actuator132is greater than the first through-hole122p, the actuator132causes the flat plate120itself to move via the penetration curbing member136.

Similarly, the outer peripheral portion142bof the actuator142moves relative to the securing section142a. Here, the outer peripheral portion142bis lifted relative to the securing section142a. Since the penetration curbing member146attached to the second tip end142dof the actuator142is greater than the second through-hole124p, the actuator142causes the flat plate120itself to move via the penetration curbing member146.

If the carrier vehicle100changes from the reference mode to the moving mode, the first moving section130and the second moving section140causes the flat plate120move from the reference position to the moving position without penetrating through the first through-hole122pand the second through-hole124pin the flat plate120. In this case, the carrier vehicle100can pressurizes the carried article from the lower side of the carried article. In a case in which the carried article is locked by a holding member, for example, the carrier vehicle100can release locking of the carried article and carry the carried article by the carrier vehicle100pressurizing the carried article from the lower side of the carried article and releasing the locking.

Note that even in a case in which the actuator132and the actuator142move only by the maximum moving distance, the height of the flat plate120relative to the upper surface110aof the case body110can be reduced as compared with the maximum moving distance. In a case in which the height of the penetration curbing member136and the penetration curbing member146(the position in the Z direction) is lower than the height of the flat plate120(the position in the Z direction) in a case in which the first moving section130and the second moving section140are caused to move to the lowest position, it is possible to reduce the height of the flat plate120relative to the upper surface110aof the case body110as compared with the maximum moving distance even in a case in which the actuator132and the actuator142move by the maximum moving distance.

Note that the peripheral portion120aand the central portion120bexpand in the X direction and the Y direction as illustrated inFIGS. 13 and 14. The end120cof the flat plate120extends in the −Z direction relative to the peripheral portion120a. Note that in a case in which the flat plate120moves in the moving mode, the length of the end120cin the Z direction is preferably equal to or greater than the moving distance of the flat plate120. In this case, even after the reference mode changes to the moving mode and the position of the flat plate120moves, substantially no gap is generated between the flat plate120and the upper surface110aof the case body110after moving, it is possible to curb entrance of foreign matters and the like to the inside of the carrier vehicle100.

As described above, the outer diameter of the first tip end132dof the first moving section130(the length in the X direction) is smaller than the opening diameter of the first through-hole122p(the length in the X direction) in the flat plate120, and the first tip end132dof the first moving section130can penetrate through the first through-hole122pin the flat plate120. Meanwhile, the diameter of the penetration curbing member136is greater than the diameter of the first through-hole122pin the flat plate120, and the penetration curbing member136cannot penetrate through the first through-hole122pin the flat plate120. Therefore, it is possible to curb penetration of the first tip end132dof the first moving section130through the first through-hole122pin the flat plate120by attaching the penetration curbing member136to the first tip end132dof the first moving section130.

Note that although the carrier vehicle100includes the first moving section130and the second moving section140in the description given above with reference toFIGS. 1 to 14, the disclosure is not limited thereto. The number of moving sections included in the carrier vehicle100may be one. Alternatively, the carrier vehicle100may include three or more moving sections. However, in a case in which towing is performed in the penetrating mode, the carrier vehicle100preferably includes two or more moving sections. It is possible to tow the carried article without changing the posture of the carried article by towing the carried article with the two or more moving sections. Also, it is possible to disperse a load of the carried article in the towing in the penetrating mode and in the moving mode by the carrier vehicle100including the plurality of moving sections.

In addition, although each of the penetration curbing member136and the penetration curbing member146has one step difference and the opening diameters of the first through-hole122pand the second through-hole124pin the flat plate120are constant in the description given above with reference toFIGS. 10 to 14, the disclosure is not limited thereto. The penetration curbing member136and the penetration curbing member146have a plurality of step differences, and holes with different opening diameters may communicate with each other as the first through-hole122pand the second through-hole124pin the flat plate120.

Note that although the unmanned carrier vehicle has been described as an example of the carrier vehicle100in the description given above with reference toFIGS. 1 to 14, the disclosure is not limited thereto. The carrier vehicle100may not be adapted to carry a carried article in an unmanned fashion. For example, the carrier vehicle100may be adapted to carry the carried article through operations of a person.

The embodiments of the disclosure have been described above with reference to the drawings (FIGS. 1 to 14). However, the disclosure is not limited to the aforementioned embodiments and can be implemented in various modes without departing from the gist thereof. Also, the plurality of components disclosed in the aforementioned embodiments can be appropriately modified. For example, a certain component among all components in a certain embodiment may be added to a component in another embodiment, or some components among all components described in a certain embodiment may be deleted from the embodiment.

In addition, the drawings mainly schematically illustrate the respective components for easy understanding of the disclosure, and thicknesses, lengths, numbers, intervals, and the like of the respective components illustrated in the drawings may be different from actual ones for convenience of creating the drawings. Also, the configurations of the respective components described in the aforementioned embodiments are just examples and are not particularly limited, and it is needless to say that various modifications can be made without substantially departing from the advantages of the disclosure.

The disclosure is suitably used for a carrier vehicle, for example.