JP2797309B2 - Transport drive vehicle and truck transport device - Google Patents
Transport drive vehicle and truck transport deviceInfo
- Publication number
- JP2797309B2 JP2797309B2 JP63076731A JP7673188A JP2797309B2 JP 2797309 B2 JP2797309 B2 JP 2797309B2 JP 63076731 A JP63076731 A JP 63076731A JP 7673188 A JP7673188 A JP 7673188A JP 2797309 B2 JP2797309 B2 JP 2797309B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- transport
- transported
- drive vehicle
- transport drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 230000032258 transport Effects 0.000 description 87
- 230000003028 elevating effect Effects 0.000 description 17
- 230000006835 compression Effects 0.000 description 8
- 238000007906 compression Methods 0.000 description 8
- 239000003550 marker Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
- B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明は、荷を積載した被搬送台車を、その下に潜り
込んで牽引搬送する搬送駆動車及びこの搬送駆動車を用
いた台車搬送装置に関するものである。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport drive vehicle that crawls a transported vehicle loaded with a load underneath and tow and transports the transport vehicle, and a transport device using the transport drive vehicle. is there.
従来の技術 従来から、種々の荷を所定経路に沿って自動搬送する
方式として、荷を被搬送台車上に積載し、この被搬送台
車を所定経路に沿って無人走行可能な搬送駆動車によっ
て牽引するようにしたものが知られている。2. Description of the Related Art Conventionally, as a method of automatically transporting various loads along a predetermined route, loads are loaded on a transported vehicle, and the transported vehicle is towed by a transport drive vehicle capable of unmanned traveling along a predetermined route. Known to do so.
又、前記被搬送台車として床面上を自由に移動するも
のを用い、床面に埋設した誘導線や、床面に張り付けた
金属テープ等の表示ラインによって前記所定経路を設定
し、これを搬送駆動車に設けた磁気式又は光学式検出手
段にて検出し、搬送駆動車の操舵車輪を操舵することに
よって所定経路に沿って搬送するようにしたものが、フ
レキシビリティを有する台車搬送装置として注目されて
いる。In addition, as the transported vehicle, one that freely moves on the floor surface is used, and the predetermined route is set by a guide line buried in the floor surface or a display line such as a metal tape attached to the floor surface, and transported. One that is detected by magnetic or optical detection means provided on the driving vehicle and conveyed along a predetermined route by steering the steered wheels of the conveyance driving vehicle has attracted attention as a bogie conveyance device having flexibility. Have been.
さらに、搬送駆動車が被搬送台車の下に潜り込んだ状
態で牽引するようにして、スペースの利用効率を高めた
台車搬送装置も知られいる。Further, there is also known a bogie transporting device in which the transport drive vehicle is pulled under the transported bogie so as to be towed, thereby improving space utilization efficiency.
発明が解決しようとする課題 ところが、上記のように搬送駆動車によって被搬送台
車を牽引する方式においては、搬送駆動車の駆動車輪と
床面との間の摩擦力で牽引力を得ているので、搬送駆動
車の重量によって被搬送台車の積載荷重が制限を受ける
ことになり、搬送駆動車の重量を大きくせざる得ないと
いう問題があった。Problems to be Solved by the InventionHowever, in the method in which the transported vehicle is towed by the transport drive vehicle as described above, the traction force is obtained by the frictional force between the drive wheels of the transport drive vehicle and the floor surface, There is a problem in that the loading load of the transported vehicle is limited by the weight of the transport driving vehicle, and the weight of the transport driving vehicle must be increased.
また、搬送駆動車の後に被搬送台車を連結したもの
は、搬送駆動車と被搬送台車の連結・解除等を行うステ
ーションや各停止部、さらに搬送経路の曲り部等に広い
空間が必要となるという問題がある。Further, when the transported vehicle is connected to the transported vehicle after the transport drive vehicle, a large space is required at a station for performing connection / disconnection of the transported drive vehicle and the transported vehicle, each stop portion, and a curved portion of the transport path. There is a problem.
一方、従来の搬送駆動車が被搬送台車の下に潜り込む
ものにおいては、搬送駆動車が進行方向に前後進のみ可
能であったため、搬送駆動車の移動経路上に正確に被搬
送台車を配置しないと両者を連結できないという問題が
あった。On the other hand, in the conventional transport drive vehicle that sneaks under the transported vehicle, the transport drive vehicle can only move forward and backward in the traveling direction, so that the transported vehicle is not accurately placed on the movement path of the transport drive vehicle. And the two cannot be connected.
さらに、上記いずれの方式においても、被搬送台車を
スライドさせたり、スピン・ターンさせたりするこがで
きず、ステーションや荷の取り扱い場所における被搬送
台車の取り扱いが難しいという問題があった。Furthermore, in any of the above methods, there is a problem that the transported vehicle cannot be slid or spin-turned, and it is difficult to handle the transported vehicle at a station or at a place where a load is handled.
本発明は上記従来の問題点に鑑み、小型、軽量であっ
ても積載荷重の大きな被搬送台車を搬送できる搬送駆動
車を提供することを目的する。SUMMARY OF THE INVENTION The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a transport drive vehicle that can transport a transport vehicle having a large load even if it is small and lightweight.
また、被搬送台車の下に搬送駆動車を潜り込ませるこ
とによってスペースの利用効率が高く、しかも被搬送台
車の配置位置が正確でなくても搬送駆動車との連結を確
実に行え、さらにステーションや荷の取り扱い場所等に
おける被搬送台車の取り扱いが容易な台車搬送装置の提
供を目的とする。In addition, since the transport drive vehicle is sunk under the transported vehicle, the space utilization efficiency is high, and even if the transported vehicle is not positioned correctly, the connection with the transport drive vehicle can be reliably performed, and furthermore, the station and the An object of the present invention is to provide a bogie transporter that can easily handle a transported bogie at a place where a load is handled.
課題を解決するための手段 本発明の搬送駆動車は、上記目的を達成するため、被
搬送台車の底面と床面との間に進入可能な車体高さを有
し、かつ車体上面から突出して前記被搬送台車底部の被
係合部に水平方向に係合するとともに垂直反力を受ける
連結手段を備えた搬送駆動車において、前記連結手段は
前記被係合部が嵌入可能な係合凹部が形成された係合部
材と、前記係合部材を昇降自在に支持可能な弾性体を有
する昇降部材と、前記昇降部材を駆動する駆動手段とか
らなるものである。Means for Solving the Problems The transport drive vehicle of the present invention has a vehicle body height that can enter between the bottom surface and the floor surface of the transported vehicle, and protrudes from the vehicle body upper surface to achieve the above object. In a transport drive vehicle having a connecting means which horizontally engages with an engaged part of the bottom part of the transported vehicle and receives a vertical reaction force, the connecting means has an engaging recess in which the engaged part can be fitted. It comprises an engaging member formed, an elevating member having an elastic body capable of supporting the engaging member so as to be able to move up and down, and a driving means for driving the elevating member.
又、本発明の台車搬送装置は、被搬送台車の底面にそ
の進行方向に沿う第１の認識マークを設け、搬送駆動車
にこの第１の認識マークを検出する第１の検出手段を設
けたことを特徴とする。好ましくは、被搬送台車の側面
に第２の認識マークを設け、搬送駆動車にこの第２の認
識マークを検出する第２の検出手段を設ける。さらに、
前記第１の検出手段が搬送駆動車の前後方向に適当間隔
を設けて配設された一対の検出手段から成り、前記第１
の認識マークはこれら一対の検出手段に対応して設けら
れる。更に、被搬送台車の底面にその幅方向に沿う第３
の認識マークを設け、搬送駆動車にこの第３の認識マー
クを検出する第３の検出手段を設ける。Further, in the carriage transport device of the present invention, a first recognition mark is provided on the bottom surface of the transported vehicle along the traveling direction thereof, and the transport drive vehicle is provided with first detection means for detecting the first recognition mark. It is characterized by the following. Preferably, a second recognition mark is provided on a side surface of the transported vehicle, and a second detection means for detecting the second recognition mark is provided on the transport driving vehicle. further,
The first detecting means comprises a pair of detecting means disposed at appropriate intervals in the front-rear direction of the transport drive vehicle, and
Are provided corresponding to the pair of detection means. Further, a third carrier along the width direction is provided on the bottom surface of the transported vehicle.
And a third detecting means for detecting the third recognition mark is provided on the transport driving vehicle.
さらに、本発明の台車搬送装置は、被搬送台車の前輪
は自在車輪、後輪は固定車輪にて構成し、被搬送台車の
前部の中央部に被係合部を配設し、搬送駆動車にこの被
係合部に対応する単一の連結手段を設けて構成される。Further, in the carriage transporting device of the present invention, the front wheel of the transported truck is configured by a free wheel, and the rear wheel is configured by a fixed wheel. The vehicle is provided with a single connecting means corresponding to the engaged portion.
また、別の台車搬送装置は、被搬送台車の前輪は固定
車輪、後輪は自在車輪にて構成し、被搬送台車の前部に
一対の被係合部に配設し、搬送駆動車にはこの被係合部
に対応する一対の連結手段を設け、さらに前記一対の連
結手段にて被搬送台車の前部を持ち上げ可能に構成され
る。又、被搬送台車の前輪及び後輪を自在車輪にて構成
した場合には、被係合部及び連結手段の位置は任意でか
つ連結手段による被搬送台車の持ち上げ構成が省略され
る。Further, another truck transport device is configured such that a front wheel of a transported truck is composed of fixed wheels and a rear wheel is formed of a free wheel, and is disposed in a pair of engaged portions at a front portion of the transported truck, and a transport drive vehicle is provided. Is provided with a pair of connecting means corresponding to the engaged portion, and is configured such that the front part of the transported vehicle can be lifted by the pair of connecting means. Further, when the front wheels and the rear wheels of the transported vehicle are composed of free wheels, the positions of the engaged portions and the connecting means are arbitrary, and the configuration of lifting the transported vehicle by the connecting means is omitted.
作用 本発明の搬送駆動車によると、被搬送台車の荷重の一
部が被係合部と連結手段を介して搬送駆動車に伝達され
るので、搬送駆動車自体の重量が小さくても、被搬送台
車を牽引するのに必要な垂直荷重を被搬送台車側から得
ることができ、搬送駆動車を小型、軽量化することがで
きる。According to the transport drive vehicle of the present invention, a part of the load of the transported vehicle is transmitted to the transport drive vehicle via the engaged portion and the connecting means, so that even if the transport drive vehicle itself is small in weight, The vertical load necessary for towing the transport vehicle can be obtained from the transport vehicle, and the transport drive vehicle can be reduced in size and weight.
また、連結手段を係合部材と弾性体と昇降部材にて構
成することにより、昇降部材の昇降位置に応じて連結手
段側から被搬送台車に加える押し上げ力を調整でき、そ
れによって被搬送台車から受ける垂直荷重を必要な大き
さに制御できるとともに、被搬送台車が空の場合に不用
意に持ち上げるのを防止できる。Further, by configuring the connecting means with the engaging member, the elastic body, and the elevating member, it is possible to adjust the pushing force applied to the transported vehicle from the connecting means side in accordance with the elevating position of the elevating member, and thereby, from the conveyed vehicle. The received vertical load can be controlled to a required size, and it can be prevented from being carelessly lifted when the transported vehicle is empty.
また、本発明の台車搬送装置において、進行方向の第
１の認識マークとそれを検出する第１の検出手段を設け
ることにより、被搬送台車の設置位置がスライド方向に
位置ずれしていても搬送駆動車を正確に対応位置させる
ことができ、また被搬送台車の側面の第２の認識マーク
とその検出手段を設けることにより、被搬送台車の設置
位置が進行方向にずれていても搬送駆動車をスライド動
作によって被搬送台車の下に干渉することなく潜り込ま
せることができ、さらに前記第１の検出手段を間隔を設
けて配設した一対のセンサにて構成することにより被搬
送台車と搬送駆動車の進行方向の中心軸線の傾きも修正
可能である。更に、幅方向の第３の認識マークとその検
出手段を設けることにより、進行方向の位置決めが可能
である。Further, in the carriage conveying device of the present invention, by providing the first recognition mark in the traveling direction and the first detecting means for detecting the same, the carriage can be transported even if the installation position of the transported carriage is displaced in the sliding direction. The driving vehicle can be accurately positioned at the corresponding position, and by providing the second recognition mark on the side surface of the transported vehicle and its detecting means, the transporting vehicle can be moved even if the installed position of the transported vehicle is shifted in the traveling direction. Can be sunk under the transported vehicle without interference by the sliding operation, and further, the first detecting means is constituted by a pair of sensors arranged at intervals so that the transported vehicle and the transport drive are driven. The inclination of the central axis in the traveling direction of the vehicle can also be corrected. Further, by providing the third recognition mark in the width direction and its detecting means, positioning in the traveling direction is possible.
又、本発明の台車搬送装置においては、被搬送台車の
前輪が自在車輪、後輪が固定車輪で、前部の中央部に被
係合部を有する被搬送台車と、その被係合部に対応する
連結手段を有する搬送駆動車の組み合わせにより、搬送
経路に沿って前後進搬送できる。Further, in the truck transport device of the present invention, the front wheel of the transported truck is a free wheel, the rear wheel is a fixed wheel, and the transported truck having an engaged portion in the center of the front portion and the engaged portion. By the combination of the transport drive vehicles having the corresponding connecting means, it is possible to transport forward and backward along the transport path.
さらに、前輪が固定車輪、後輪が自在車輪で、前部に
一対の被係合部を有する被搬送台車と、その被係合部に
対応する連結手段を有しかつその連結手段にて被搬送台
車の前部を持ち上げ可能に構成された搬送駆動車の組み
合わせによれば、さらにスライド、スピンターンが可能
であり、さらに被搬送台車の前輪及び後輪が自在車輪の
場合には、被搬送台車の持ち上げ構成を省略しても、ス
ライド、スピンターンが可能である。Further, the front wheel is a fixed wheel, the rear wheel is a free wheel, and a transported vehicle having a pair of engaged portions at a front portion, and connecting means corresponding to the engaged portions, and a connecting means corresponding to the engaged portions. According to the combination of the transport drive vehicles configured to be able to lift the front portion of the transport vehicle, further sliding and spin turns are possible, and when the front wheel and the rear wheel of the transported vehicle are free wheels, the transported vehicle is transported. Sliding and spin turn are possible even if the lifting structure of the cart is omitted.
実施例 以下、本発明の第１実施例を第１図〜第６図に基づい
て説明する。Embodiment 1 Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
第１図〜第３図において、１は搬送駆動車、２は荷を
積載する被搬送台車である。前記搬送駆動車１は平面形
状が凸状で、かつ車体高さが被搬送台車２の底面の高さ
より若干低く設定されて被搬送台車２の下に潜り込み得
るように構成されている。1 to 3, reference numeral 1 denotes a transport drive vehicle, and reference numeral 2 denotes a transported vehicle on which a load is loaded. The transport drive vehicle 1 is configured so that its planar shape is convex, and the height of the vehicle body is set slightly lower than the height of the bottom surface of the transported vehicle 2 so as to be able to dive under the transported vehicle 2.
前記搬送駆動車１には、進行方向前端部に駆動モータ
（図示せず）を内蔵した前輪３が、後部には左右一対の
同じく駆動モータを内蔵した後輪4a,4bが配設され、前
輪３は２等辺３角形の頂点に、後輪4a、4bは底辺の両端
に位置している。The transport drive vehicle 1 has a front wheel 3 having a built-in drive motor (not shown) at a front end portion in the traveling direction, and a pair of right and left rear wheels 4a and 4b having a built-in drive motor. Reference numeral 3 denotes an apex of an isosceles triangle, and rear wheels 4a and 4b are located at both ends of a base.
前輪３は垂直軸心回りに回転可能に支持された前輪ブ
ラケット５に装着されており、第１の操舵モータ6aと、
その出力軸に固定された駆動プーリ6bと、タイミングベ
ルト6cと、前記前輪ブラケット５に固定された操舵プー
リ6dから成る第１の操舵手段６にて回転操作される。
又、前記前輪ブラケット５の前部には、床面上の搬送経
路に沿って貼着された金属テープ等のライン指示マーカ
及び所定間隔置きに形成された位置指示マーカを検出す
るラインセンサ等の操舵用センサ７が取付けられてい
る。The front wheel 3 is mounted on a front wheel bracket 5 rotatably supported around a vertical axis, and includes a first steering motor 6a,
Rotation is performed by first steering means 6 including a drive pulley 6b fixed to the output shaft, a timing belt 6c, and a steering pulley 6d fixed to the front wheel bracket 5.
In addition, at the front of the front wheel bracket 5, there are provided a line indicator marker such as a metal tape stuck along a transport route on the floor surface and a line sensor for detecting a position indicator marker formed at predetermined intervals. A steering sensor 7 is mounted.
後輪4a、4bも同様に、それぞれ垂直軸心回りに回転可
能に支持された後輪ブラケット8a、8bに装着されてお
り、第２の操舵モータ9a、その出力軸に固定された駆動
プーリ9b、タイミングベルト9c、従動プーリ9d、歯車列
9e及び各後輪ブラケット8a、8bに固定された操舵歯車9
f、9gから成る第２の操舵手段９にて互いに連動してか
つ反対方向に回転操作される。Similarly, the rear wheels 4a and 4b are respectively mounted on rear wheel brackets 8a and 8b rotatably supported around a vertical axis, and include a second steering motor 9a and a drive pulley 9b fixed to an output shaft thereof. , Timing belt 9c, driven pulley 9d, gear train
9e and steering gear 9 fixed to each rear wheel bracket 8a, 8b
The second steering means 9 consisting of f and 9g are rotated in opposite directions in conjunction with each other.
前記被搬送台車２には左右一対の自在車輪から成る前
輪10a、10bと、左右一対の固定車輪から成る後輪11a、1
1bが装着され、前記搬送駆動車１の前方突出部1a部が前
輪10a、10b間に入り込むように構成されている。The transported vehicle 2 has front wheels 10a and 10b formed of a pair of left and right free wheels and rear wheels 11a and 1 formed of a pair of left and right fixed wheels.
1b is mounted, and the front protruding portion 1a of the transport drive vehicle 1 is configured to enter between the front wheels 10a and 10b.
そして、搬送駆動車１の前輪３の後部位置に、第４図
及び第５図に示すように、被搬送台車２に設けられた被
係合部12に水平方向に係合するとともに垂直反力を受け
る連結手段13が配設されている。At the rear position of the front wheel 3 of the transport drive vehicle 1, as shown in FIGS. 4 and 5, it engages with an engaged portion 12 provided on the transported vehicle 2 in a horizontal direction and at the same time a vertical reaction force. Receiving means 13 is provided.
第４図及び第５図において、14は被係合部12を構成す
る突部が嵌入する係合凹部14aを上端に形成された係合
部材である。前記係合凹部14aの底面は垂直反力を受け
る受面14bに形成され、さらに上方に向かって広がる案
内テーパ面14cが形成されている。この係合部材14はガ
イド筒体15にて昇降自在に支持されている。15aはオイ
ルシールである。前記係合部材14は圧縮ばね16を介して
昇降部材17にて下方から支持されており、この昇降部材
17にはピニオン19にて昇降駆動されるラック18が固定さ
れている。前記ピニオン19は駆動モータ20によってウォ
ーム歯車機構21を介して回転駆動されるシャフト22に固
定されている。22a、22bはシャフト22の軸受、23は前記
圧縮ばね16の初期圧縮を与えるため、係合部材14に対す
る昇降部材17の下降限を規制するストッパ、24a、24bは
昇降部材17の上昇限と係合部材14の下降限を検出するリ
ミットスイッチである。4 and 5, reference numeral 14 denotes an engaging member formed at an upper end with an engaging concave portion 14a into which a projection constituting the engaged portion 12 fits. The bottom surface of the engaging concave portion 14a is formed on a receiving surface 14b which receives a vertical reaction force, and a guide tapered surface 14c which extends further upward is formed. The engaging member 14 is supported by a guide cylinder 15 so as to be able to move up and down. 15a is an oil seal. The engaging member 14 is supported from below by an elevating member 17 via a compression spring 16.
A rack 18 that is driven up and down by a pinion 19 is fixed to 17. The pinion 19 is fixed to a shaft 22 that is rotationally driven by a drive motor 20 via a worm gear mechanism 21. 22a and 22b are bearings of the shaft 22, 23 is a stopper for restricting the lowering limit of the elevating member 17 with respect to the engaging member 14 to give the initial compression of the compression spring 16, and 24a and 24b are related to the raising limit of the elevating member 17. This is a limit switch for detecting the lower limit of the joint member 14.
前記搬送駆動車１を被搬送台車２の所定位置に位置決
めして連結手段13を確実に被係合部12に係合させるた
め、第６図に示すように、搬送駆動車１と被搬送台車２
に、それらの相対位置を検出する手段が設けられてい
る。25a、25bは、被搬送台車２の底面の進行方向の中心
軸線上に適当間隔を設けて形成された一対の第１の認識
マーク、26は被搬送台車２の側面に形成された第２の認
識マーク、27は被搬送台車２の底面の適当箇所に幅方向
に形成した第３の認識マークである。一方、搬送駆動車
１には、前記第１の認識マーク25a、25bを検出してスラ
イド方向の位置決めを行う第１の検出手段28a、28bと、
搬送駆動車１が被搬送台車２の下に潜り込む前に前記第
２の認識マーク26を検出して進行方向の位置を検出する
第２の検出手段29と、搬送駆動車１が被搬送台車２の下
に潜り込んだ後に前記第３の認識マーク27を検出して進
行方向の位置決めを行う第３の検出手段30が設けられて
いる。As shown in FIG. 6, the transport driving vehicle 1 and the transported vehicle 1 are positioned at a predetermined position of the transported vehicle 2 to reliably engage the connecting means 13 with the engaged portion 12. 2
Are provided with means for detecting their relative positions. 25a and 25b are a pair of first recognition marks formed at appropriate intervals on the center axis in the traveling direction of the bottom surface of the transported vehicle 2, and 26 is a second recognition mark formed on the side surface of the transported vehicle 2. A recognition mark 27 is a third recognition mark formed in the width direction at an appropriate location on the bottom surface of the transported vehicle 2. On the other hand, the transport drive vehicle 1 includes first detection means 28a and 28b that detect the first recognition marks 25a and 25b and perform positioning in the sliding direction.
A second detecting means 29 for detecting the second recognition mark 26 to detect the position in the traveling direction before the transport driving vehicle 1 enters under the transported vehicle 2; There is provided a third detecting means 30 for detecting the third recognition mark 27 after sneaking underneath and positioning in the traveling direction.
次に、動作を説明する。第６図において、概ね所定の
位置に置かれた被搬送台車２を搬送駆動車１で搬送する
場合、まず搬送駆動車１が被搬送台車２と干渉しないよ
うにその側方に設定されたライン上を矢印Ａの如く進行
方向に移動し、第２の検出手段29にて被搬送台車２の側
面の第２の認識マーク26を検出すると、実線で示す状態
で停止する。次に、第１及び第２の操舵手段６、９にて
前輪３及び後輪4a、4bを進行方向に対して直角方向に向
けて矢印Ｂの如くスライド動作を行い、第１の検出手段
28a、28bにて第１の認識マーク25a、25bを検出すると停
止する。その際、一方の認識マークのみを検出した場合
には、非検出側の車輪３又は4a、4bだけをさらに駆動し
て両方の認識マーク25a、25bを検出した一点鎖線で示す
状態で停止する。こうして被搬送台車２と搬送駆動車１
の中心軸線の傾きも修正される。次に、第１及び第２の
操舵手段６、９にて前輪３及び後輪4a、4bを再び進行方
向に向けて矢印Ｃの如く移動し、第３の検出手段30にて
第３の認識マーク27を検出した破線で示す状態で停止す
る。Next, the operation will be described. In FIG. 6, when a transported vehicle 2 placed at a substantially predetermined position is transported by the transport drive vehicle 1, first, a line set on the side of the transport drive vehicle 1 so that the transport drive vehicle 1 does not interfere with the transported vehicle 2 It moves upward in the direction of travel as indicated by arrow A, and stops when the second detection means 29 detects the second recognition mark 26 on the side surface of the transported vehicle 2 as shown by the solid line. Next, the first and second steering means 6, 9 slide the front wheel 3 and the rear wheels 4a, 4b in the direction perpendicular to the traveling direction as shown by the arrow B, and perform the first detection means.
When the first recognition marks 25a and 25b are detected at 28a and 28b, the operation stops. At this time, if only one recognition mark is detected, only the non-detection side wheel 3 or 4a, 4b is further driven to stop at the state indicated by the dashed line where both recognition marks 25a, 25b are detected. Thus, the transported vehicle 2 and the transport drive vehicle 1
The inclination of the center axis of is also corrected. Next, the first and second steering means 6, 9 move the front wheel 3 and the rear wheels 4a, 4b again in the traveling direction as shown by the arrow C, and the third detection means 30 performs the third recognition. It stops in the state shown by the broken line where the mark 27 is detected.
この状態で被搬送台車２の被係合部12と連結手段13と
が対向しており、次に駆動モータ20を駆動してウォーム
歯車機構21を介してピニオン19を回転させ、ラック18に
て昇降部材17を上昇させる。すると、圧縮ばね16を介し
て係合部材14が上昇し、被係合部12が係合部材14の係合
凹部14aに嵌入して互いに係合し、被搬送台車２と搬送
駆動車１が連結される。その際、微小な位置ずれは案内
テーパ面14cにて調整される。さらに、昇降部材17が上
昇すると、被係合部12が係合部材14の受面14bに当接
し、以降は昇降部材17の上昇に伴って圧縮ばね16が圧縮
される。昇降部材17が上昇限まで上昇するとリミットス
イッチ24aにて検出されて駆動モータ20が停止する。こ
の状態で、圧縮ばね16の圧縮反力にて被搬送台車２を押
し上げ、その反力が係合部材14に垂直反力として作用す
る。その結果、搬送駆動車１が軽量であっても被搬送台
車２を牽引するのに必要な垂直荷重がこの垂直反力にて
被搬送台車２側から得られる。In this state, the engaged portion 12 of the transported vehicle 2 and the connecting means 13 are opposed to each other, and then the drive motor 20 is driven to rotate the pinion 19 via the worm gear mechanism 21 and the rack 18 The elevating member 17 is raised. Then, the engaging member 14 rises via the compression spring 16, the engaged portion 12 fits into the engaging concave portion 14a of the engaging member 14 and engages with each other, and the transported vehicle 2 and the transport driving vehicle 1 Be linked. At this time, a slight displacement is adjusted by the guide tapered surface 14c. Further, when the elevating member 17 is raised, the engaged portion 12 comes into contact with the receiving surface 14b of the engaging member 14, and thereafter the compression spring 16 is compressed as the elevating member 17 is raised. When the elevating member 17 rises to the ascending limit, it is detected by the limit switch 24a and the drive motor 20 stops. In this state, the transported vehicle 2 is pushed up by the compression reaction force of the compression spring 16, and the reaction force acts on the engagement member 14 as a vertical reaction force. As a result, even if the transport drive vehicle 1 is lightweight, a vertical load required to pull the transported vehicle 2 can be obtained from the transported vehicle 2 side by this vertical reaction force.
こうして、搬送駆動車１と被搬送台車２の連結が完了
すると、前輪３及び後輪4a、4bを駆動するとともに、操
舵センサ７にて床面上のライン指示マーカを検出し、そ
の検出信号に応じて第１の操舵手段６を作動させて前輪
３を操舵することによって所定の搬送経路に沿って被搬
送台車２を搬送することができる。When the connection between the transport drive vehicle 1 and the transported vehicle 2 is completed, the front wheel 3 and the rear wheels 4a and 4b are driven, and the steering sensor 7 detects a line indicating marker on the floor surface. In response, the first steering means 6 is operated to steer the front wheels 3, whereby the transported vehicle 2 can be transported along a predetermined transport path.
被搬送台車２が所定位置まで搬送されると、駆動モー
タ20を逆回転させて昇降部材17を下降させ、係合部材14
を下降させて被係合部12との係合を解除することによっ
て搬送駆動車１と被搬送台車２の連結を解除し、搬送駆
動車１を後退動作させた後スライド動作させることによ
って互いに分離し、搬送駆動車１を次の搬送動作に向か
わせる。When the transported vehicle 2 is transported to a predetermined position, the drive motor 20 is rotated in the reverse direction to lower the elevating member 17 so that the engaging member 14
Is lowered to release the engagement with the engaged portion 12 to release the connection between the transport drive vehicle 1 and the transported vehicle 2, and the transport drive vehicle 1 is caused to retreat and then slide to separate from each other. Then, the transport drive vehicle 1 is moved to the next transport operation.
以上の第１実施例では、搬送駆動車１単体では、前後
進の他、スライド動作及びスピンターン動作も可能であ
り、それを利用して被搬送台車２との連結作業等を容易
に行うことができるが、被搬送台車２と連結して牽引す
る状態では、原則として前後進させることができるだけ
である。In the above-described first embodiment, the transport drive vehicle 1 alone can perform not only forward and backward traveling, but also a slide operation and a spin turn operation, and can easily perform a connection operation with the transported vehicle 2 by using the same. However, in a state where the vehicle is connected to the transported vehicle 2 and towed, the vehicle can be moved forward and backward in principle.
次に、第７図〜第９図に基づいて、被搬送台車にスラ
イド動作やスピンターン動作をさせることができる第２
実施例を説明する。Next, based on FIG. 7 to FIG. 9, a second operation that allows the transported vehicle to perform a sliding operation and a spin-turn operation is described.
An embodiment will be described.
この第２実施例における搬送駆動車31は、上記第１実
施例と同様に単一の前輪33と一対の後輪34a、34bを有
し、各々操舵手段（図示せず）にて操舵される。この搬
送駆動車31の前輪33の後部には車体幅方向に適当な間隔
を設けて一対の連結手段35a、35bが設けられ、被搬送台
車32にも対応する被係合部が設けられている。各連結手
段35a、35bの詳細な構成は、第４図及び第５図で示した
ものと同様である。一方、被搬送台車32は、前輪36a、3
6bが固定車輪、後輪37a、37bが自在車輪から成ってい
る。又、搬送駆動車31と被搬送台車32の相対位置を検出
する認識マークや検出手段も図示していないが、上記第
１実施例と同様に設けられている。The transport drive vehicle 31 in the second embodiment has a single front wheel 33 and a pair of rear wheels 34a and 34b, similarly to the first embodiment, and is steered by steering means (not shown). . At the rear of the front wheel 33 of the transport drive vehicle 31, a pair of connecting means 35a and 35b are provided at appropriate intervals in the vehicle body width direction, and the transported vehicle 32 is also provided with a corresponding engaged portion. . The detailed configuration of each connecting means 35a, 35b is the same as that shown in FIGS. 4 and 5. On the other hand, the transported vehicle 32 has front wheels 36a, 3
6b is a fixed wheel, and rear wheels 37a and 37b are free wheels. Further, although not shown, a recognition mark for detecting the relative position between the transport drive vehicle 31 and the transported vehicle 32 and detection means are provided in the same manner as in the first embodiment.
なお、前記前輪36a、36bが固定車輪から成り、それら
の間に十分広い空間が存在するため、搬送駆動車31の平
面形状は矩形状となっている。Since the front wheels 36a and 36b are composed of fixed wheels and there is a sufficiently large space between them, the plane shape of the transport drive vehicle 31 is rectangular.
この第２実施例において、搬送駆動車31と被搬送台車
32を、第７図〜第９図に示すように位置決めして連結手
段35a、35bにて互いに連結し、さらに連結手段35a、35b
にて被搬送台車32の前部を持ち上げ、固定車輪から成る
前輪36a、36bを床面から離間される。In the second embodiment, the transport drive vehicle 31 and the transported vehicle
32 are positioned as shown in FIGS. 7 to 9 and connected to each other by connecting means 35a and 35b.
Then, the front portion of the transported vehicle 32 is lifted, and the front wheels 36a and 36b formed of fixed wheels are separated from the floor surface.
この状態で、搬送駆動車31を駆動することによって被
搬送台車32を搬送経路に沿って搬送することができる。
また、一対の連結手段35a、35bにて互いに連結されてい
るので、搬送駆動車31と被搬送台車32の相対回転を防止
できるとともに回転モーメントを伝達することができ、
かつ被搬送台車32の床面に接している後輪37a、37bは自
在車輪であるため、搬送駆動車31をスライド動作させる
ことによって被搬送台車32をスライドさせることこがで
き、また搬送駆動車31の前輪33を直角方向に操舵し、後
輪34a、34bを逆ハ字状に操舵してスピンターンされるこ
とによって被搬送台車32もスピンターンさせることがで
き、狭い空間でのスライドや方向変換が可能となり、取
り扱いが極めて容易となる。In this state, by driving the transport driving vehicle 31, the transported vehicle 32 can be transported along the transport path.
Also, since the two are connected to each other by the pair of connecting means 35a and 35b, it is possible to prevent the relative rotation of the transport drive vehicle 31 and the transported vehicle 32 and transmit the rotational moment,
Further, since the rear wheels 37a and 37b in contact with the floor surface of the transported vehicle 32 are free wheels, the transported vehicle 32 can be slid by sliding the transport drive vehicle 31. The front wheel 33 of the vehicle 31 is steered in a right angle direction, and the rear wheels 34a and 34b are steered in an inverted C-shape to be spun. Conversion is possible and handling is extremely easy.
次に、第３実施例を説明すると、上記第２実施例では
被搬送台車32の前輪36a、36bを固定車輪にて構成してい
たのを、前後輪共に自在車輪にて構成する。Next, a third embodiment will be described. In the second embodiment, the front wheels 36a and 36b of the transported vehicle 32 are configured by fixed wheels, but the front and rear wheels are configured by free wheels.
この場合、連結手段35a、35bにて被搬送台車32の前部
を持ち上げなくても同様の作用効果が得られる。In this case, the same operation and effect can be obtained without raising the front part of the transported vehicle 32 by the connecting means 35a and 35b.
なお、上記第２、第３実施例では、連結手段35a、35b
を一対設けた例を示したが、それ以上設けてもよい。In the second and third embodiments, the connecting means 35a, 35b
Although the example which provided a pair was shown, you may provide more than it.
さらに、以上の実施例では連結手段が係合凹部を有
し、被係合部を突部にて構成したものを例示したが、逆
に連結手段を係合突起又は係合軸にて構成し、被係合部
を凹部にて構成してもよい。Further, in the above embodiment, the connecting means has an engaging recess and the engaged part is constituted by a projection, but the connecting means is constituted by an engaging protrusion or an engaging shaft. Alternatively, the engaged portion may be configured by a concave portion.
発明の効果 本発明の搬送駆動車によると、被搬送台車の荷重の一
部が被係合部と連結手段を介して搬送駆動車に伝達され
るので、搬送駆動車自体の重量が小さくても、被搬送台
車を牽引するのに必要な垂直荷重を被搬送台車側から得
ることができ、搬送駆動車を小型、軽量化することがで
きる。According to the transport drive vehicle of the present invention, a part of the load of the transported vehicle is transmitted to the transport drive vehicle via the engaged portion and the connection means, so that the weight of the transport drive vehicle itself is small. In addition, the vertical load required for towing the transported vehicle can be obtained from the transported vehicle, and the transport drive vehicle can be reduced in size and weight.
又、３つの車輪をすべて駆動及び操舵可能に構成する
ことによって、搬送駆動車を進行方向に移動させる他
に、進行方向と直交する方向にスライドさせたり、スピ
ンターンさせたりすることができ、操作、取り扱いが容
易となる。さらに、前輪を操舵する第１の操舵手段と一
対の後輪を互いに反対方向に操舵する第２の操舵手段を
設けることにより、前後輪共に直角方向に向けたり、前
輪を直角方向に向け、後輪を逆ハ字状に向ける操舵を簡
単に行える。In addition, by configuring all three wheels so that they can be driven and steered, in addition to moving the transport drive vehicle in the traveling direction, it can be slid in the direction perpendicular to the traveling direction or spin-turned. , Easy to handle. Further, by providing the first steering means for steering the front wheels and the second steering means for steering the pair of rear wheels in opposite directions, both the front and rear wheels can be oriented at right angles, or the front wheels can be oriented at right angles, and Steering that turns the wheels in an inverted C-shape can be easily performed.
また、連結手段を係合部材と弾性体と昇降部材にて構
成することにより、昇降部材の昇降位置に応じて連結手
段側から被搬送台車に加える押し上げ力を調整でき、そ
れによって被搬送台車から受ける垂直荷重を必要な大き
さに制御できるとともに、被搬送台車が空の場合に不用
意に持ち上がるのを防止できる。Further, by configuring the connecting means with the engaging member, the elastic body, and the elevating member, it is possible to adjust the pushing force applied to the transported vehicle from the connecting means side in accordance with the elevating position of the elevating member, and thereby, from the conveyed vehicle. The received vertical load can be controlled to a required size, and it can be prevented from being inadvertently lifted when the transported vehicle is empty.
また、本発明の台車搬送装置において、進行方向の第
１の認識マークとそれを検出する第１の検出手段を設け
ることにより、被搬送台車の設置位置がスライド方向に
位置ずれしていても搬送駆動車を正確に対応位置させる
ことができ、また被搬送台車の側面の第２の認識マーク
とその検出手段を設けることにより、被搬送台車の設置
位置が進行方向にずれていても搬送駆動車をスライド動
作によって被搬送台車の下に干渉することなく潜り込ま
せることができ、さらに前記第１の検出手段を間隔を設
けて配設した一対のセンサにて構成することにより被搬
送台車と搬送駆動車の進行方向の中心軸線の傾きも修正
可能である。更に、幅方向の第３の認識マークとその検
出手段を設けることにより、進行方向の位置決めが可能
である。Further, in the carriage conveying device of the present invention, by providing the first recognition mark in the traveling direction and the first detecting means for detecting the same, the carriage can be transported even if the installation position of the transported carriage is displaced in the sliding direction. The driving vehicle can be accurately positioned at the corresponding position, and by providing the second recognition mark on the side surface of the transported vehicle and its detecting means, the transporting vehicle can be moved even if the installed position of the transported vehicle is shifted in the traveling direction. Can be sunk under the transported vehicle without interference by the sliding operation, and further, the first detecting means is constituted by a pair of sensors arranged at intervals so that the transported vehicle and the transport drive are driven. The inclination of the central axis in the traveling direction of the vehicle can also be corrected. Further, by providing the third recognition mark in the width direction and its detecting means, positioning in the traveling direction is possible.
又、本発明の台車搬送装置においては、被搬送台車の
前輪が自在車輪、後輪が固定車輪で、前部の中央部に被
係合部を有する被搬送台車と、その被係合部に対応する
連結手段を有する搬送駆動車の組み合わせにより、搬送
経路に沿って前後進搬送できる。Further, in the truck transport device of the present invention, the front wheel of the transported truck is a free wheel, the rear wheel is a fixed wheel, and the transported truck having an engaged portion in the center of the front portion and the engaged portion. By the combination of the transport drive vehicles having the corresponding connecting means, it is possible to transport forward and backward along the transport path.
さらに、前輪が固定車輪、後輪が自在車輪で、前部に
一対の被係合部を有する被搬送台車と、その被係合部に
対応する連結手段を有しかつその連結手段にて被搬送台
車の前部を持ち上げ可能に構成された搬送駆動車の組み
合わせによれば、さらにスライド、スピンターンが可能
であり、さらに被搬送台車の前輪及び後輪が自在車輪の
場合には、被搬送台車の持ち上げ構成を省略してもスラ
イド、スピンターンが可能である。Further, the front wheel is a fixed wheel, the rear wheel is a free wheel, and a transported vehicle having a pair of engaged portions at a front portion, and connecting means corresponding to the engaged portions, and a connecting means corresponding to the engaged portions. According to the combination of the transport drive vehicles configured to be able to lift the front portion of the transport vehicle, further sliding and spin turns are possible, and when the front wheel and the rear wheel of the transported vehicle are free wheels, the transported vehicle is transported. Sliding and spin turn are possible even if the lifting structure of the cart is omitted.
第１図〜第６図は本発明の一実施例を示し、第１図は概
略構成を示す平面図、第２図は側面図、第３図は部分拡
大側面図、第４図は連結手段の縦断正面図、第５図は同
側面図、第６図は位置検出手段の配置及び作用説明図、
第７図〜第９図は本発明の第２実施例を示し、第７図は
底面図、第８図は正面図、第９図は側面図である。 １……搬送駆動車、２……被搬送台車、３……前輪、4
a、4b……後輪、６……第１の操舵手段、９……第２の
操舵手段、10a、10b……前輪、11a、11b……後輪、12…
…被係合部、13……連結手段、14……係合部材、16……
圧縮ばね、17……昇降部材、20……駆動モータ、25a、2
5b……第１の認識マーク、26……第２の認識マーク、27
……第３の認識マーク、28a、28b……第１の検出手段、
29……第２の検出手段、30……第３の検出手段、31……
搬送駆動車、32……被搬送台車、33……前輪、34a、34b
……後輪、35a、35b……連結手段、36a、36b……前輪、
37a、37b……後輪。1 to 6 show an embodiment of the present invention, FIG. 1 is a plan view showing a schematic configuration, FIG. 2 is a side view, FIG. 3 is a partially enlarged side view, and FIG. FIG. 5 is a side view of the same, FIG. 6 is an explanatory view of the arrangement and operation of the position detecting means,
7 to 9 show a second embodiment of the present invention. FIG. 7 is a bottom view, FIG. 8 is a front view, and FIG. 9 is a side view. 1 ... Conveyance driving car, 2 ... Conveyed car, 3 ... Front wheel, 4
a, 4b rear wheel, 6 first steering means, 9 second steering means, 10a, 10b front wheel, 11a, 11b rear wheel, 12
... engaged part, 13 ... connecting means, 14 ... engaging member, 16 ...
Compression spring, 17 ... elevating member, 20 ... drive motor, 25a, 2
5b: first recognition mark, 26: second recognition mark, 27
... third recognition mark, 28a, 28b ... first detection means,
29 ... second detection means, 30 ... third detection means, 31 ...
Transport drive vehicle, 32… Transported vehicle, 33… Front wheel, 34a, 34b
... rear wheel, 35a, 35b ... connecting means, 36a, 36b ... front wheel,
37a, 37b ... Rear wheels.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 藤川 幸一 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 桧垣 典秀 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 美濃 伸夫 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (56)参考文献 特開 昭63−287662（ＪＰ，Ａ) 特開 昭58−33577（ＪＰ，Ａ) 特開 昭62−210174（ＪＰ，Ａ) 実開 昭64−16967（ＪＰ，Ｕ) 実開 昭56−110058（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.6，ＤＢ名) G05D 1/02──────────────────────────────────────────────────の Continued on the front page (72) Inventor Koichi Fujikawa 1006 Kazuma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. In-company (72) Inventor Nobuo Mino 1006 Kadoma, Kazuma, Osaka Pref. Matsushita Electric Industrial Co., Ltd. (56) References JP-A-63-287662 (JP, A) JP-A-58-33577 (JP, A JP-A-62-210174 (JP, A) JP-A-64-16967 (JP, U) JP-A-56-110058 (JP, U) (58) Fields investigated (Int. Cl. 6 , DB name) G05D 1/02
Claims (8)
な車体高さを有し、かつ車体上面から突出して前記被搬
送台車底部の被係合部に水平方向に係合するとともに垂
直反力を受ける連結手段を備えた搬送駆動車において、 前記連結手段は前記被係合部が嵌入可能な係合凹部が形
成された係合部材と、前記係合部材を昇降自在に支持可
能な弾性体を有する昇降部材と、前記昇降部材を駆動す
る駆動手段とからなることを特徴とする搬送駆動車。1. A vehicle body having a height that allows the vehicle to enter between the bottom surface and the floor surface of the transported vehicle, and protruding from the upper surface of the vehicle and horizontally engaging with an engaged portion at the bottom of the transported vehicle. And a connecting drive receiving a vertical reaction force, wherein the connecting means supports an engaging member formed with an engaging recess into which the engaged portion can be fitted, and the engaging member so as to be able to move up and down. A transport drive vehicle comprising: a lifting member having a resilient body; and driving means for driving the lifting member.
送装置において、被搬送台車の底面にその進行方向に沿
う第１の認識マークを設け、搬送駆動車にこの第１の認
識マークを検出する第１の検出手段を設けた台車搬送装
置。2. A carriage transport apparatus using a transport drive vehicle according to claim 1, wherein a first recognition mark is provided on the bottom surface of the transported vehicle along a traveling direction thereof, and the first recognition mark is provided on the transport drive vehicle. A carriage transport device provided with first detection means for detecting a vehicle.
け、搬送駆動車にこの第２の認識マークを検出する第２
の検出手段を設けた請求項２記載の台車搬送装置。3. A second recognition mark is provided on a side surface of a transported vehicle, and a second recognition mark for detecting the second recognition mark on a transport drive vehicle.
3. The carriage transport device according to claim 2, further comprising a detection unit.
適当間隔を設けて配設された一対の検出手段から成り、
前記第１の認識マークはこれら一対の検出手段に対応し
て設けられている請求項２又は３記載の台車搬送装置。4. The first detecting means comprises a pair of detecting means arranged at appropriate intervals in the front-rear direction of the transport driving vehicle,
4. The truck transport device according to claim 2, wherein said first recognition mark is provided corresponding to said pair of detection means.
の認識マークを設け、搬送駆動車にこの第３の認識マー
クを検出する第３の検出手段を設けた請求項２、３又は
４記載の台車搬送装置。5. A third carrier extending along the width direction of the bottom surface of the transported vehicle.
5. The carriage transport device according to claim 2, further comprising: a recognition mark provided on the carriage drive vehicle; and a third detection unit configured to detect the third recognition mark on the transport drive vehicle.
送装置において、被搬送台車の前輪は自在車輪、後輪は
固定車輪にて構成し、被搬送台車の前部の中央部に被係
合部を配設し、搬送駆動車にはこの被係合部に対応する
単一の連結手段を設けた台車搬送装置。6. A truck transport device using a transport drive vehicle according to claim 1, wherein a front wheel of the transport truck is a free wheel, and a rear wheel is a fixed wheel. A bogie transport device in which an engaged portion is provided, and a single drive means corresponding to the engaged portion is provided on the transport drive vehicle.
送装置において、被搬送台車の前輪は固定車輪、後輪は
自在車輪にて構成し、被搬送台車の前部に一対の被係合
部を配設し、搬送駆動車にはこの被係合部に対する一対
の連結手段を設け、さらに前記一対の連結手段にて被搬
送台車の前部を持ち上げ可能に構成した台車搬送装置。7. A truck transport device using a transport drive vehicle according to claim 1, wherein a front wheel of the transport vehicle is a fixed wheel, and a rear wheel is a free wheel, and a pair of transport wheels are provided at a front portion of the transport vehicle. A bogie transporter comprising an engaging portion, a transport drive vehicle provided with a pair of connecting means for the engaged portion, and further comprising a pair of connecting means capable of lifting a front portion of the transported vehicle.
送装置において、被搬送台車の前輪及び後輪を自在車輪
にて構成し、被搬送台車に一対の被係合部を配設し、搬
送駆動車にはこの被係合部に対応する一対の連結手段を
設けた台車搬送装置。8. A carriage transport device using a transport drive vehicle according to claim 1, wherein a front wheel and a rear wheel of the transported vehicle are constituted by free wheels, and a pair of engaged portions are disposed on the transported vehicle. And a carriage drive device provided with a pair of connecting means corresponding to the engaged portion in the transport drive vehicle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63076731A JP2797309B2 (en) | 1988-03-30 | 1988-03-30 | Transport drive vehicle and truck transport device |
| KR1019890004070A KR920009354B1 (en) | 1988-03-30 | 1989-03-30 | Carriage conveying equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63076731A JP2797309B2 (en) | 1988-03-30 | 1988-03-30 | Transport drive vehicle and truck transport device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01248209A JPH01248209A (en) | 1989-10-03 |
| JP2797309B2 true JP2797309B2 (en) | 1998-09-17 |
Family
ID=13613724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63076731A Expired - Fee Related JP2797309B2 (en) | 1988-03-30 | 1988-03-30 | Transport drive vehicle and truck transport device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2797309B2 (en) |
| KR (1) | KR920009354B1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011219006A (en) * | 2010-04-12 | 2011-11-04 | Yaskawa Electric Corp | Unmanned carrier truck, truck and unmanned carrier truck system |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2553463B2 (en) * | 1994-01-25 | 1996-11-13 | 株式会社ウドノ医機 | Sterilization / transportation system for medical equipment |
| JPH11240446A (en) * | 1998-02-23 | 1999-09-07 | Aichi Mach Ind Co Ltd | Automated guided vehicle |
| JP5304723B2 (en) * | 2010-05-17 | 2013-10-02 | 株式会社安川電機 | Self-propelled conveying device and cart conveying method |
| JP5708912B2 (en) * | 2010-12-07 | 2015-04-30 | 株式会社ダイフク | Truck-type transfer device using tow truck |
| JP5526390B2 (en) * | 2010-12-08 | 2014-06-18 | 株式会社ダイフク | Carriage type transfer device and steering control method thereof |
| JP5848915B2 (en) * | 2011-08-19 | 2016-01-27 | 株式会社日立産機システム | Automated guided vehicle and automated guided vehicle system using the same |
| JP6806722B2 (en) * | 2018-03-22 | 2021-01-06 | 株式会社東芝 | Automatic guided vehicles and autonomous vehicles |
| JP7384681B2 (en) * | 2020-01-31 | 2023-11-21 | シャープ株式会社 | traveling device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63287662A (en) * | 1987-05-18 | 1988-11-24 | Kimura Chuzosho:Kk | Conveying device |
-
1988
- 1988-03-30 JP JP63076731A patent/JP2797309B2/en not_active Expired - Fee Related
-
1989
- 1989-03-30 KR KR1019890004070A patent/KR920009354B1/en not_active IP Right Cessation
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011219006A (en) * | 2010-04-12 | 2011-11-04 | Yaskawa Electric Corp | Unmanned carrier truck, truck and unmanned carrier truck system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01248209A (en) | 1989-10-03 |
| KR890014349A (en) | 1989-10-23 |
| KR920009354B1 (en) | 1992-10-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3482463B2 (en) | Submersible guided towing vehicle | |
| KR20070033972A (en) | Automated loading system and method | |
| JP2797309B2 (en) | Transport drive vehicle and truck transport device | |
| US4972917A (en) | Carriage conveying equipment | |
| US4906159A (en) | Freely positionable load carrying attachment for an automatic guided vehicle | |
| JP3150428B2 (en) | Automatic guided vehicle | |
| JP5483021B2 (en) | Truck-type transfer device using tow truck | |
| JP3511617B2 (en) | Automatic guided vehicle | |
| JP5526390B2 (en) | Carriage type transfer device and steering control method thereof | |
| CN212172039U (en) | AGV dolly is transported to wheel pair | |
| JP7303660B2 (en) | carrier | |
| JP2000127957A (en) | Truck conveyance device | |
| JPH1053127A (en) | Positioning device at time of loading | |
| JP3137509B2 (en) | Pallet transfer device | |
| JP3274995B2 (en) | Carrier | |
| JP2932221B2 (en) | Coupling device | |
| CN217497386U (en) | Loading and unloading robot | |
| JPH0729119Y2 (en) | Automated guided vehicle | |
| CN217739781U (en) | Back-dragging type AGV trolley | |
| JPH04297905A (en) | Running control method for unmanned carrier | |
| JP2564836Y2 (en) | Automatic guided vehicle | |
| CN216889978U (en) | Omnidirectional self-walking forklift | |
| JPS6222836B2 (en) | ||
| JPH0649536Y2 (en) | Cargo carrier | |
| JP3713566B2 (en) | Automated guided vehicle with transfer device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |