JP5526390B2 - Carriage type transfer device and steering control method thereof - Google Patents

Carriage type transfer device and steering control method thereof Download PDF

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JP5526390B2
JP5526390B2 JP2010273520A JP2010273520A JP5526390B2 JP 5526390 B2 JP5526390 B2 JP 5526390B2 JP 2010273520 A JP2010273520 A JP 2010273520A JP 2010273520 A JP2010273520 A JP 2010273520A JP 5526390 B2 JP5526390 B2 JP 5526390B2
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towing vehicle
carriage
vehicle
transport
pair
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JP2012121441A (en
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重善 西原
浩介 大本
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Daifuku Co Ltd
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Daifuku Co Ltd
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Description

本発明は、自走可能な牽引車と当該牽引車に連結されて牽引される搬送台車との組み合わせから成る牽引車利用の台車式搬送装置とその操向制御方法に関するものである。   The present invention relates to a trolley-type transfer device using a traction vehicle, which is a combination of a self-propelled tow vehicle and a transfer trolley connected to the tow vehicle, and a steering control method thereof.

上記のような牽引車利用の台車式搬送装置として、特許文献１に記載されるように、前輪と後輪を備えた搬送台車と、この搬送台車の前端部下側に入り込む自走可能な牽引車とから成り、搬送台車の前端部下側とその下側の牽引車とに、互いに上下方向に嵌合する垂直軸体と連結孔とから成る連結手段が設けられた牽引車利用の台車式搬送装置が知られている。この種の搬送装置では、前進走行する牽引車の左右方向の旋回動作に伴って、当該牽引車で牽引される搬送台車を走行経路のターン経路部に沿って走行させることが出来るものである。   As described above in Patent Document 1, as a cart-type transport device using a tow vehicle as described above, a transport cart having a front wheel and a rear wheel, and a self-propelled tow vehicle that enters the lower side of the front end of the transport cart A trolley-type trolley-type transfer device using a vertical shaft body and a connecting hole that are fitted in the vertical direction on the lower side of the front end of the transfer trolley and the lower tractor. It has been known. In this type of transport device, the transport cart towed by the towing vehicle can travel along the turn path portion of the travel route along with the turning operation of the towing vehicle traveling in the left-right direction.

特開２００８−２３９０８０号公報JP 2008-239080 A

この種の搬送装置は、自動車車体などを積載する長尺の大型搬送台車を、当該搬送台車よりも十分に小型の自走可能な牽引車で牽引するものであるから、小型の牽引車の旋回半径をいくら小さくしても、当該牽引車で長尺の大型搬送台車を牽引しながら当該搬送台車を走行経路のターン経路部に沿って走行させるものであるから、搬送台車の旋回半径は大きくなり、走行経路のターン経路には大きな床面積が占有されることになる。即ち、往行経路部上を直進してきた搬送台車を、前記往行経路部に対して直角横向き姿勢に転向させるためには、非常に大きな旋回半径のターン経路部が必要になり、このターン経路部を２つ連続するように組み合わせて、互いに並列する往行経路部と復行経路部とを接続する場合、往行経路部と復行経路部とが大きく離れて並列することになって、この往行経路部と復行経路部との間に大きな床面積の無駄な空間が生じることになる。このような問題点を解消するためには、牽引車と搬送台車の両方を移載出来る大型のターンテーブルを備えた横動自在な台車（トラバーサー）を前記ターン経路部に代えて設置する必要があり、設備コストが非常に高くつくことになっていた。   This type of transport device pulls a long, large transport cart carrying a car body and the like with a self-propelled tow vehicle that is sufficiently smaller than the transport cart. No matter how small the radius is, the towing vehicle pulls the long large conveyance cart while moving the conveyance cart along the turn path portion of the traveling route, so the turning radius of the conveyance cart becomes large. The turn route of the travel route occupies a large floor area. That is, in order to turn the transport cart that has traveled straight on the forward path portion into a posture at a right angle to the forward path portion, a turn path portion having a very large turning radius is required. When connecting the forward path part and the backward path part that are parallel to each other by combining the two parts so as to be continuous, the forward path part and the backward path part are greatly separated in parallel, A wasteful space with a large floor area is generated between the forward path part and the backward path part. In order to solve such a problem, it is necessary to install a traversable cart (traverser) having a large turntable capable of transferring both a towing vehicle and a transport cart instead of the turn path portion. The equipment cost was very high.

本発明は、上記のような従来の問題点を解消することのできる台車式搬送装置の操向制御方法を提案するものであって、請求項１に記載の本発明に係る操向制御方法は、後述する実施例との関係を理解し易くするために、当該実施例の説明において使用した参照符号を括弧付きで付して示すと、自走可能な牽引車(1)と、当該牽引車(1)によって垂直軸体(25)周りに相対回動自在に牽引される搬送台車(2)とから成り、前記牽引車(1)は、搬送台車(2)に対して前記垂直軸体(25)の周りに左右に旋回可能に構成され、前記搬送台車(2)は、後輪として左右一対の向き固定車輪(6)を備えている台車式搬送装置の操向制御方法において、前記搬送台車(2)が走行経路終端に達した状態で前記牽引車(1)を停止させ、次に牽引車(1)を搬送台車(2)に対して前記垂直軸体(25)の周りに直角横向き姿勢まで旋回させ、この直角横向き姿勢の牽引車(1)の前進走行により前記搬送台車(2)を、前記左右一対の向き固定車輪(6)間の中央位置（仮想旋回中心Ｓ）を旋回中心として前記走行経路に対し直角横向き姿勢まで旋回させ、この後、前記牽引車(1)を搬送台車(2)に対し前記垂直軸体(25)の周りに反対方向に旋回させて、元の牽引姿勢に復帰させることを特徴とするものである。 The present invention proposes a steering control method for a trolley-type transfer apparatus capable of solving the conventional problems as described above, and the steering control method according to the present invention according to claim 1 In order to make it easier to understand the relationship with the embodiment described later, the reference sign used in the description of the embodiment is shown in parentheses to indicate a self-propelled tow vehicle (1) and the tow vehicle. (1) is composed of a transport carriage (2) that is pulled around a vertical shaft (25) so as to be rotatable relative to the vertical shaft (25). 25) in the steering control method of the cart type transport device, wherein the transport cart (2) includes a pair of left and right orientation fixed wheels (6) as rear wheels. The tow truck (1) is stopped in a state where the carriage (2) has reached the end of the travel path, and then the towing truck (1) is moved to the vertical carriage (25) with respect to the transport carriage (2). When the towing vehicle (1) in the right-angled horizontal posture moves forward, the transport cart (2) is moved to the center position between the pair of left and right orientation-fixed wheels (6) (virtual turning center S). ) Around the vertical shaft (25) in the opposite direction with respect to the transport carriage (2). , The original pulling posture is restored.

上記の本発明の操向制御方法によれば、牽引車で牽引走行させている搬送台車を、直角横向き姿勢まで転向させる場合、当該搬送台車の左右一対の向き固定後輪間の中央位置（仮想旋回中心Ｓ）を走行経路の終端位置から転向方向に移動させないで、搬送台車を直角横向き姿勢に転向させることが出来る。従って、搬送台車の走行経路は、大きな円弧形のターン経路部を併用しないで、直角横向きに折曲させるようにレイアウトすることが可能になり、しかもそのコーナー部には、直角横向き姿勢になる前の搬送台車と牽引車とが、当該搬送台車の前記左右一対の向き固定後輪間の中央位置（仮想旋回中心Ｓ）を中心に旋回できるエリアを要するだけである。従って、従来のように牽引車で搬送台車を牽引させながら大きな円弧形のターン経路部を走行させて当該搬送台車を直角横向きに転向させる場合と比較して、床面の利用効率を大幅に高めることが出来ると共に、作業効率も高めることが出来る。しかも、牽引車以外に特別な手段を併用する必要が全くなく、設備コストを抑制できる。   According to the steering control method of the present invention described above, when the transport cart that is towed by the towing vehicle is turned to a right-angled horizontal posture, the center position (virtual position between the pair of left and right orientation-fixed rear wheels of the transport cart is determined. Without moving the turning center S) from the terminal position of the travel route in the turning direction, the transport carriage can be turned to a right-angled lateral posture. Accordingly, the traveling route of the transport carriage can be laid out so as to be bent at a right angle and in a horizontal direction without using a large arc-shaped turn route portion, and the corner portion has a right angle and a horizontal posture. It only requires an area in which the front conveying cart and the towing vehicle can turn around the central position (virtual turning center S) between the pair of right and left fixed rear wheels of the conveying cart. Therefore, compared with the conventional case where the tow truck is towed by a large arc-shaped turn path while towing the transport carriage, the floor carriage is used more efficiently compared to the case where the conveyor carriage is turned at a right angle to the side. It is possible to increase the work efficiency. Moreover, it is not necessary to use any special means in addition to the towing vehicle, and the equipment cost can be suppressed.

上記本発明によれば、搬送台車とこれを牽引する直進姿勢の牽引車の全体を、搬送台車に対する牽引車のみの正逆旋回動作と、搬送台車の左右一対の向き固定車輪（後輪）間の仮想旋回中心と同心状の円弧経路上で牽引車を旋回走行させることの組み合わせにより、搬送台車の左右一対の向き固定車輪（後輪）間の仮想旋回中心位置を実質的に変化させないで、直角横向きの姿勢に変化させることが出来るので、請求項２に記載のように、この搬送台車とこれを牽引する直進姿勢の牽引車の全体を直角横向きの姿勢に変化させるための一連の操作を２回実行して、搬送台車とこれを牽引する直進姿勢の牽引車の全体の向きを１８０度転換させる間に、搬送台車の後端部を往行経路部の終端位置から復行経路部の始端位置へ移動させるための牽引車の搬送台車牽引動作を組み込むことにより、搬送台車とこれを牽引する直進姿勢の牽引車の全体を、往行経路部の終端位置から復行経路部の始端位置へ、向きを１８０度転換させた状態で乗り移らせることが出来る。   According to the present invention, the entire conveying cart and the straight-running towing vehicle that pulls the carriage are moved forward and backward with only the towing vehicle relative to the conveying cart, and between the pair of right and left fixed wheels (rear wheels) of the conveying cart. The virtual turning center position between the pair of left and right direction fixed wheels (rear wheels) of the transport carriage is not substantially changed by the combination of turning the towing vehicle on a circular arc path concentric with the virtual turning center of Since the posture can be changed to a right-angled horizontal posture, a series of operations for changing the entire conveying cart and the straight-ahead towed vehicle pulling the carriage to a right-angled horizontal posture as described in claim 2 are performed. This is executed twice, and the rear end of the transport carriage is moved from the end position of the forward path section to the return path section while the entire direction of the transport cart and the straight-running towing truck towing it is changed by 180 degrees. Check for moving to the start position By incorporating the pulling operation of the transport carriage of the car, the direction of the entire transport cart and the tow truck in the straight running posture that pulls it is changed from the end position of the forward path section to the start position of the return path section by 180 degrees. You can transfer in the state.

従って、往行経路部と復行経路部との間の間隔は、往行経路部の終端位置で直角横向きの姿勢に切り換えた搬送台車を、牽引車でその姿勢のまま前進走行させる距離によって決まることになる。換言すれば、互いに並列する往行経路部と復行経路部との間隔は、両経路部を互いに逆向きに直進する搬送台車どうしが互いに干渉しない範囲で自由に狭めることが出来る。尚、往行経路部と復行経路部との間の直角接続経路部には、往行経路部から直角横向きに前進走行する搬送台車及び牽引車が、当該搬送台車の後端部（左右一対の向き固定車輪（後輪）間の仮想旋回中心位置）が復行経路部の始端位置に達したときに、当該復行経路部から直角横向きに突出する姿勢にある搬送台車及び牽引車を受け入れられるだけの、直角横向きに張り出した空間が必要になるが、この空間を含めても、長尺で大型の搬送台車を牽引車で牽引させながらＵターンさせる場合に必要な旋回空間と比較して、往行経路部と復行経路部との間のターン部に必要な床面積は大幅に小さくなり、床面の利用効率を高めるのに役立つ。   Therefore, the distance between the forward path portion and the backward path portion is determined by the distance that the transport carriage that has been switched to the right-angled horizontal posture at the end position of the forward route portion is caused to travel forward in the posture by the towing vehicle. It will be. In other words, the distance between the forward path portion and the backward path portion that are parallel to each other can be narrowed as long as the transport carriages that travel straight in opposite directions from each other do not interfere with each other. In addition, in the right angle connection path portion between the forward path portion and the reverse path portion, a transport carriage and a towing vehicle that travels in a right-angled lateral direction from the forward path portion include a rear end portion (left and right pair) of the transport cart. When the direction of the fixed turning wheel (the rear wheel) reaches the starting position of the return path section, it accepts the transport cart and the towing vehicle that project in a right-angled lateral direction from the return path section. Space that protrudes at right angles and sideways as much as possible is required, but even if this space is included, it is compared with the turning space required when making a U-turn while pulling a long and large conveyance cart with a towing vehicle The floor area required for the turn portion between the outbound route portion and the return route portion is significantly reduced, which helps to increase the use efficiency of the floor surface.

尚、上記本発明方法を実施する場合、請求項３に記載の台車式搬送装置、即ち、自在車輪から成る前輪(5)と直進向きに固定された左右一対の向き固定車輪から成る後輪(6)を備えた搬送台車(2)と、少なくとも後端側が前記搬送台車(2)の前端部下側に入り込む自走可能な牽引車(1)とから成り、搬送台車(2)の前端部下側とその下側の牽引車(1)とに、互いに上下方向に嵌合する垂直軸体(25)と連結孔(52)とから成る連結手段(41)が設けられた牽引車利用の台車式搬送装置において、牽引車(1)は、直進向きに固定された左右一対の向き固定駆動車輪(7a,7b)と、これら向き固定駆動車輪(7a,7b)を各別に正逆任意の方向に駆動する左右一対のモーター(19a,19b)と、前記左右一対の向き固定駆動車輪(7a,7b)より後方に位置する自在車輪(8)を備え、前記連結手段(41)を構成する垂直軸体(25)と連結孔(52)の内の一方は、前記左右一対の駆動車輪(7a,7b)間の中央位置において牽引車(1)に設けられ、前記垂直軸体(25)と連結孔(52)の内の他方は、搬送台車(2)に昇降自在に支持された昇降体(42)に設けられ、この昇降体(42)は、この昇降体(42)の真上に位置するように搬送台車(2)に設けられた操作用開口部(53)から、前記連結手段(41)が連結状態となる下降位置と当該連結手段(41)が連結解除状態となる上昇位置との間で昇降操作可能に構成され、牽引車の左右一対の駆動車輪(7a,7b)を正逆互いに反対方向に駆動したとき、牽引車(1)のみが、搬送台車(2)に対して少なくとも直角横向き姿勢まで、連結手段(41)の前記垂直軸体(25)の周りに回転出来るように構成され、このときの牽引車(1)の回転軌跡より後方側に搬送台車(2)の前記前輪(5)が配設された構成の台車式搬送装置を利用することにより、上記本発明方法を容易且つ確実に実施することが出来る。 When carrying out the above-described method of the present invention, the cart-type transfer device according to claim 3, that is, a front wheel (5) composed of a free wheel and a rear wheel composed of a pair of left and right orientation fixed wheels fixed in a straight forward direction ( 6) and a self-propelled towing vehicle (1) whose rear end enters the lower side of the front end of the transport cart (2), and is below the front end of the transport cart (2). And a lower traction vehicle (1), a trolley type using a traction vehicle provided with a connecting means (41) composed of a vertical shaft body (25) and a connection hole (52) that fit in the vertical direction. In the transport device, the towing vehicle (1) is a pair of left and right direction fixed drive wheels (7a, 7b) fixed in a straight direction, and these fixed direction drive wheels (7a, 7b) in each direction forward and reverse. A pair of left and right motors (19a, 19b) for driving and a free wheel (8) positioned rearward of the pair of left and right direction fixed drive wheels (7a, 7b ), and constitutes the connecting means (41) One of the vertical shaft body (25) and the connecting hole (52) is provided on the towing vehicle (1) at a central position between the pair of left and right drive wheels (7a, 7b), and the vertical shaft body (25 ) And the other of the connecting holes (52) are provided on an elevating body (42) supported so as to be movable up and down on the transport carriage (2), and the elevating body (42) is a true part of the elevating body (42). From the operation opening (53) provided in the transport carriage (2) so as to be positioned above, the lowered position where the connecting means (41) is connected and the connecting means (41) are released. When the pair of left and right drive wheels (7a, 7b) of the towing vehicle are driven in the opposite directions, the towing vehicle (1) is the only transport cart (2). It is configured to be able to rotate around the vertical shaft body (25) of the connecting means (41) at least up to a right-and-left lateral posture, and the transport carriage ( 2) The front wheel (5) is provided Been by utilizing carriage type conveying apparatus configurations, the present invention method easily and reliably can be carried out.

図１Ａは牽引車付き搬送台車の平面図、図１Ｂは搬送経路中の牽引車付き搬送台車を示す側面図である。FIG. 1A is a plan view of a transport cart with a tow vehicle, and FIG. 1B is a side view showing the transport cart with a tow vehicle in a transport path. 図２Ａは牽引車の上部カバープレートを取り外した状態の平面図、図２Ｂは牽引車の縦断側面図である。FIG. 2A is a plan view of the tow vehicle with the upper cover plate removed, and FIG. 2B is a longitudinal side view of the tow vehicle. 図３は牽引車付き搬送台車の正面図である。FIG. 3 is a front view of a transport carriage with a towing vehicle. 図４は牽引車付き搬送台車の駆動車輪位置での縦断正面図である。FIG. 4 is a longitudinal front view at the driving wheel position of the transport carriage with a towing vehicle. 図５は牽引車付き搬送台車の自在車輪位置での縦断背面図である。FIG. 5 is a longitudinal rear view at the free wheel position of the transport carriage with a towing vehicle. 図６Ａは搬送台車の上部カバープレートを取り外した状態の平面図、図６Ｂは搬送台車の側面図である。FIG. 6A is a plan view of the transport cart with the upper cover plate removed, and FIG. 6B is a side view of the transport cart. 図７は搬送台車の被連結部を示す平面図である。FIG. 7 is a plan view showing a connected portion of the transport carriage. 図８は搬送台車の被連結部を示す縦断正面図である。FIG. 8 is a longitudinal sectional front view showing a connected portion of the transport carriage. 図９は搬送台車の被連結軸体を牽引車の牽引用垂直軸体に嵌合させる直前の状態を示す要部の縦断正面図である。FIG. 9 is a longitudinal sectional front view of the main part showing a state immediately before the coupled shaft body of the transport carriage is fitted to the towing vertical shaft body of the towing vehicle. 図１０は搬送台車の被連結軸体を牽引車の牽引用垂直軸体に嵌合させた状態を示す要部の縦断正面図である。FIG. 10 is a longitudinal front view of the main part showing a state where the coupled shaft body of the transport carriage is fitted to the vertical shaft body for towing of the towing vehicle. 図１１は搬送台車側に牽引車を吊り上げた状態を示す要部の縦断正面図である。FIG. 11 is a longitudinal sectional front view of the main part showing a state where the towing vehicle is lifted on the conveyance carriage side. 図１２は搬送台車側に牽引車を吊り上げた状態を示す要部の側面図である。FIG. 12 is a side view of the main part showing a state in which the towing vehicle is lifted on the conveyance carriage side. 図１３Ａは牽引車の後半部に対する保守作業時の状態を示す要部の平面図、図１３Ｂは牽引車の前半部及び後半部に対する保守作業時の状態を示す要部の平面図である。FIG. 13A is a plan view of a main part showing a state during maintenance work for the rear half of the tow vehicle, and FIG. 13B is a plan view of a main part showing a state during maintenance work for the front half and the rear half of the tow truck. 図１４は互いに並列する往行経路部から復行経路部へ牽引車付き搬送台車をターンさせるときの前半部の牽引車付き搬送台車の動きを説明する概略平面図である。FIG. 14 is a schematic plan view for explaining the movement of the transport carriage with a tow truck in the first half when turning the transport carriage with a tow truck from the forward path section parallel to the return path section. 図１５は同上後半部の牽引車付き搬送台車の動きを説明する概略平面図である。FIG. 15 is a schematic plan view for explaining the movement of the transport carriage with a tow vehicle in the latter half of the same.

図１において、１は牽引車、２は牽引車１によって牽引される搬送台車である。搬送台車２には、自動車車体などの被搬送物Ｗの前端側を支持する左右一対の前側被搬送物支持具３と、同被搬送物Ｗの後端側を支持する左右一対の後ろ側被搬送物支持具４が突設され、底部には、前側被搬送物支持具３の下側近傍位置に位置する左右一対の前側自在車輪５と、後ろ側被搬送物支持具４の下側近傍位置に位置する、前進方向に向きが固定された左右一対の後ろ側向き固定車輪６が設けられている。牽引車１は、搬送台車２の下側を、左右一対の前側被搬送物支持具３の間と左右一対の後ろ側被搬送物支持具４の間とを経由して前進走行出来るように、高さと巾が制限された扁平な低床構造のものであって、その長さ方向の中央位置付近に、前進方向に向きが固定され且つ各別に駆動自在な左右一対の駆動車輪７ａ，７ｂが設けられると共に、後端近傍位置の巾方向中央位置に、自在車輪８が設けられたものである。   In FIG. 1, reference numeral 1 denotes a tow vehicle, and 2 denotes a transport cart towed by the tow vehicle 1. The transport carriage 2 includes a pair of left and right front transport object supports 3 that support the front end side of a transported object W such as an automobile body, and a pair of left and right rear transport covers that support the rear end side of the transported object W. A transported object support 4 is projected, and at the bottom, a pair of left and right front universal wheels 5 positioned near the lower side of the front transported object support 3 and the lower vicinity of the rear transported object support 4 A pair of left and right rear-side fixed wheels 6 that are positioned and fixed in the forward direction are provided. The towing vehicle 1 can travel forward on the lower side of the transport carriage 2 via a pair of left and right front transport object supports 3 and a pair of left and right rear transport object supports 4. A pair of left and right drive wheels 7a, 7b, which have a flat low floor structure with limited height and width, and whose directions are fixed in the forward direction and can be driven separately, are near the center position in the length direction. In addition to being provided, a universal wheel 8 is provided at the center in the width direction near the rear end.

牽引車１の詳細構造を、図２、図４及び図５に基づいて説明すると、図２に示すように、牽引車１の機体１Ａは、左右両側辺の縦枠材９ａ，９ｂを複数本の横枠材１０ａ〜１０ｄにより連結すると共に、後端横枠材１０ｄから後方に幅の狭いコ形枠組み１１を突設したものであって、前端横枠材１０ａと２番目の横枠材１０ｂとの間の縦枠材９ａ，９ｂ間には、制御機器１２を収納する制御機器収納空間１３を形成する底板１４が張設され、３番目の横枠材１０ｃと後端横枠材１０ｄとの間の縦枠材９ａ，９ｂ間には、複数台のバッテリー１５を収納するバッテリー収納空間１６を形成する底板１７が張設されている。そして２番目の横枠材１０ｂと３番目の横枠材１０ｃとの間には、これら横枠材１０ｂ，１０ｃの上側で縦枠材９ａ，９ｂに沿って左右一対の駆動ユニット取付け部材１８ａ，１８ｂが架設され、これら両駆動ユニット取付け部材１８ａ，１８ｂに、前記駆動車輪７ａ，７ｂとこれら各駆動車輪７ａ，７ｂを各別に正逆任意の方向に駆動する減速機付きモーター１９ａ，１９ｂとから成る駆動ユニット２０ａ，２０ｂが、左右一対の駆動車輪７ａ，７ｂが機体１Ａのセンターラインに対して左右対称となるように取り付けられている。   The detailed structure of the towing vehicle 1 will be described with reference to FIGS. 2, 4 and 5. As shown in FIG. 2, the body 1A of the towing vehicle 1 includes a plurality of vertical frame members 9a and 9b on both right and left sides. Are connected by the horizontal frame members 10a to 10d, and a narrow U-shaped frame 11 protrudes rearward from the rear end horizontal frame member 10d, and includes a front end horizontal frame member 10a and a second horizontal frame member 10b. A bottom plate 14 forming a control device storage space 13 for storing the control device 12 is stretched between the vertical frame members 9a and 9b between the third frame member 10c and the rear end frame member 10d. Between the vertical frame members 9a and 9b, a bottom plate 17 that forms a battery storage space 16 for storing a plurality of batteries 15 is stretched. Between the second horizontal frame member 10b and the third horizontal frame member 10c, a pair of left and right drive unit mounting members 18a along the vertical frame members 9a and 9b above the horizontal frame members 10b and 10c. 18b is installed on both drive unit mounting members 18a and 18b from the drive wheels 7a and 7b and motors 19a and 19b with speed reducers for driving the drive wheels 7a and 7b in the forward and reverse arbitrary directions. The drive units 20a and 20b are attached so that the pair of left and right drive wheels 7a and 7b are symmetrical with respect to the center line of the body 1A.

前記機体１Ａの後端の横枠材１０ｄとコ形枠組み１１の後端部との間には、これら横枠材１０ｄとコ形枠組み１１の上側で前後方向に支持板２１が架設され、自在車輪８は、前記支持板２１の下側に垂直軸心の周りに自転可能に支持された垂直回転軸体２２と、この垂直回転軸体２２の下端部左右両側に左右対称に軸支された左右一対の遊転車輪２３ａ，２３ｂから構成されている。 Between the horizontal frame member 10d at the rear end of the airframe 1A and the rear end portion of the U-shaped frame 11, a support plate 21 is installed in the front-rear direction on the upper side of the horizontal frame member 10d and the U-shaped frame 11. The wheel 8 is supported on the lower side of the support plate 21 so as to be able to rotate around a vertical axis and is symmetrically supported on both the left and right sides of the lower end portion of the vertical rotation shaft 22. It consists of a pair of left and right idle wheels 23a, 23b.

前記機体１Ａの２番目の横枠材１０ｂと３番目の横枠材１０ｃとの間には、左右一対の駆動ユニット２０ａ，２０ｂの中間で機体１Ａのセンターラインに沿うように前後方向の中央縦枠材２４が架設され、この中央縦枠材２４の上側には、平面視において左右両側の駆動ユニット２０ａ，２０ｂの駆動車輪７ａ，７ｂの共通軸心と機体１Ａのセンターラインとが交わる交点と同心状に牽引用垂直軸体２５が、当該牽引用垂直軸体２５と一体に形成された取付け座２５ｂと、中央縦枠材２４上に固着された取付け用座板２６を介して上向きに突設されている。尚、前記取付け用座板２６には、図１１に示すように、牽引用垂直軸体２５に対して前後対称位置で下側の中央縦枠材２４にわたって夫々垂直ネジ孔２７ａ，２７ｂが設けられている。 Between the second horizontal frame member 10b and the third horizontal frame member 10c of the airframe 1A, a central vertical length in the front-rear direction so as to follow the center line of the airframe 1A between the pair of left and right drive units 20a and 20b. A frame member 24 is installed on the upper side of the central vertical frame member 24 at an intersection where the common axis of the drive wheels 7a and 7b of the left and right drive units 20a and 20b intersects with the center line of the airframe 1A in plan view. The traction vertical shaft body 25 concentrically protrudes upward through a mounting seat 25 b formed integrally with the traction vertical shaft body 25 and a mounting seat plate 26 fixed on the central vertical frame member 24. It is installed. As shown in FIG. 11 , the mounting seat plate 26 is provided with vertical screw holes 27 a and 27 b over the lower central vertical frame member 24 at positions symmetrical with respect to the pulling vertical shaft body 25. ing.

又、機体１Ａの前端横枠材１０ａの前側には、他物との衝突を検知する、機体１Ａの横巾全域をカバー出来る長さの障害物衝突検知用エッジスイッチ２８と、前方一定領域内の障害物を検出する障害物センサー２９が取り付けられている。又、機体１Ａの上側全体にはカバープレート３０ａ〜３０ｄがネジ止めされている。これらカバープレート３０ａ〜３０ｄは、少なくとも制御機器収納空間１３の前半部領域と後半部領域、駆動ユニット２０ａ，２０ｂが配設された横枠材１０ｂ，１０ｃ間の中央領域、バッテリー収納空間１６と自在車輪８が配設された後端部を含む領域ごとに分割され、各別に着脱出来るようにネジ止めされている。そして中央領域のカバープレート３０ｃには、牽引用垂直軸体２５が貫通して上向きに突出する開口部が設けられている。   In addition, on the front side of the front frame member 10a of the airframe 1A, an obstacle collision detection edge switch 28 having a length capable of covering the entire lateral width of the airframe 1A for detecting a collision with another object, and in a predetermined front area. An obstacle sensor 29 for detecting the obstacle is attached. Further, cover plates 30a to 30d are screwed to the entire upper side of the machine body 1A. These cover plates 30a to 30d are free from at least a front half region and a rear half region of the control device storage space 13, a central region between the horizontal frame members 10b and 10c in which the drive units 20a and 20b are disposed, and the battery storage space 16. The wheel 8 is divided for each region including the rear end portion, and is screwed so that it can be attached and detached separately. The cover plate 30c in the central region is provided with an opening through which the pulling vertical shaft body 25 passes and protrudes upward.

次に搬送台車２の詳細構造を図６〜図１０に基づいて説明すると、搬送台車２の機体２Ａは平面形状が前後方向に長い長方形のもので、左右両側辺の縦枠材３１ａ，３１ｂ、両縦枠材３１ａ，３１ｂを前後方向複数箇所で互いに連結一体化する横枠材３２ａ〜３２ｇ、２番目と３番目の横枠材３２ｂ，３２ｃどうしを側辺の縦枠材３１ａ，３１ｂに近い位置の左右２箇所で互いに連結する中間縦枠材３３ａ，３３ｂ、４番目と５番目の横枠材３２ｄ，３２ｅどうしをこの機体２Ａのセンターライン上で互いに連結する中間縦枠材３３ｃ、及び６番目と後端の横枠材３２ｆ，３２ｇどうしを側辺の縦枠材３１ａ，３１ｂに近い位置の左右２箇所で互いに連結する中間縦枠材３３ｄ，３３ｅから構成され、中央に近い前後２本の横枠材３２ｄ，３２ｅ上の左右２箇所に前記前側被搬送物支持具３と後ろ側被搬送物支持具４が突設されている。そして中央部の前側で互いに接近して並列している２本の横枠材３２ｃ，３２ｄ間で縦枠材３１ａ，３１ｂに接近する左右２箇所には、それぞれ前記前側自在車輪５が取り付けられ、中央部の後ろ側で互いに接近して並列している２本の横枠材３２ｅ，３２ｆ間で縦枠材３１ａ，３１ｂに接近する左右２箇所には、それぞれ前記後ろ側向き固定車輪６が取り付けられている。 Next, the detailed structure of the transport carriage 2 will be described with reference to FIGS. 6 to 10. The airframe 2A of the transport carriage 2 is a rectangular shape whose plan shape is long in the front-rear direction, and the vertical frame members 31a and 31b on both left and right sides. The horizontal frame members 32a to 32g for connecting and integrating the vertical frame members 31a and 31b to each other at a plurality of positions in the front-rear direction are close to the vertical frame members 31a and 31b on the side sides of the second and third horizontal frame members 32b and 32c. Intermediate vertical frame members 33a and 33b, which are connected to each other at two positions on the left and right sides, and intermediate vertical frame members 33c and 6 which connect the fourth and fifth horizontal frame members 32d and 32e to each other on the center line of the machine body 2A. Consists of intermediate vertical frame members 33d and 33e that connect the second and rear horizontal frame members 32f and 32g to each other at two positions on the left and right sides of the side frame members 31a and 31b. Horizontal frame material 32d, 3 The two left and right locations on e front conveyed object support 3 and the rear conveyed object support 4 is projected. And the said front side free wheel 5 is attached to two right and left places which approach the vertical frame materials 31a and 31b between the two horizontal frame materials 32c and 32d which are close to each other in parallel on the front side of the center portion, respectively. The rear-facing fixed wheels 6 are respectively attached to the two left and right positions approaching the vertical frame members 31a and 31b between the two horizontal frame members 32e and 32f that are close to each other and arranged in parallel on the rear side of the central portion. It has been.

機体２Ａの前端の横枠材３２ａと２番目の横枠材３２ｂとの間には、機体２Ａのセンターラインに近い位置で左右一対の縦つなぎ材３６ａ，３６ｂと、これら両縦つなぎ材３６ａ，３６ｂの下側でこれら両縦つなぎ材３６ａ，３６ｂから機体２Ａのセンターライン側に張り出す左右一対の支持板３７ａ，３７ｂとが架設されると共に、これら両支持板３７ａ，３７ｂの上側に左右横向きの連結板３８の両端が載置固定されている。又、上記搬送台車２の機体２Ａ上には、左右両側の縦枠材３１ａ，３１ｂ、前端の横枠材３２ａ、２番目の横枠材３２ｂ、被搬送物支持具３，４を支持する中間２本の横枠材３２ｄ，３２ｅ、後端の横枠材３２ｇ、及び前端の縦つなぎ材３６ａ，３６ｂの各上面を露出させる状態で、各枠材３１ａ〜３２ｇで囲まれた矩形領域（前端の縦つなぎ材３６ａ，３６ｂ間の矩形領域は除く）を各別にカバーするカバープレート３９ａ〜３９ｌが夫々着脱自在にネジ止めされている。更に、後端の横枠材３２ｇ上には、この機体２Ａの全巾にわたって後方に延出する機体間カバープレート４０が取り付けられている。この機体間カバープレート４０は、前後方向の中間部が左右横巾全域にわたって山形状に突出する形状に成形され、その後側辺の高さは、機体２Ａの高さより若干高くなるように構成されている。   Between the horizontal frame member 32a at the front end of the machine body 2A and the second horizontal frame member 32b, a pair of left and right vertical connecting members 36a, 36b at positions close to the center line of the machine body 2A, and both of these vertical connecting members 36a, A pair of left and right support plates 37a and 37b projecting from both the vertical connecting members 36a and 36b to the center line side of the machine body 2A are installed under the side of 36b. Both ends of the connecting plate 38 are mounted and fixed. Further, on the machine body 2A of the transport carriage 2, intermediate frames for supporting the left and right vertical frame members 31a and 31b, the front side horizontal frame member 32a, the second horizontal frame member 32b, and the transported object supports 3 and 4 are provided. A rectangular region (front end) surrounded by the frame members 31a to 32g with the upper surfaces of the two horizontal frame members 32d and 32e, the rear horizontal frame member 32g, and the vertical connecting members 36a and 36b at the front end exposed. The cover plates 39a to 39l that respectively cover the vertical connecting members 36a and 36b (except for the rectangular region between the vertical connecting members 36a and 36b) are detachably screwed. Further, an inter-machine cover plate 40 extending rearward over the entire width of the machine body 2A is mounted on the rear frame member 32g. This inter-machine cover plate 40 is formed such that the middle part in the front-rear direction protrudes in a mountain shape over the entire lateral width, and the height of the rear side is configured to be slightly higher than the height of the airframe 2A. Yes.

牽引車１と搬送台車２との連結手段４１は、図７〜図１０に示すように、牽引車１の機体１Ａから突設された前記牽引用垂直軸体２５と、搬送台車２の前端中央の前記連結板３８の中央位置に高さ調整自在に取り付けられた円筒形の昇降体４２、この昇降体４２の下端中央から下向きに突出する被連結軸体４３、昇降体４２の中央孔部４４に内装された圧縮コイルバネ４５、昇降体４２の中央孔部４４の上端領域に形成されたネジ孔部４４ａに高さ調整自在に螺嵌するバネ受け４６、及び昇降体４２に高さ調整固定自在に取り付けられたリング状の下降限ストッパー４７から構成されている。 As shown in FIGS. 7 to 10, the connecting means 41 between the towing vehicle 1 and the transport carriage 2 includes the pulling vertical shaft 25 projecting from the body 1 </ b> A of the towing vehicle 1 and the center of the front end of the transport carriage 2 . lift 42 of height adjustably mounted cylindrical center position of the connecting plate 38, the connecting shaft 43 projecting from the lower end center of the lift 42 downwardly, the central bore 44 of the lift 42 A compression coil spring 45, a spring receiver 46 screwed into a screw hole 44a formed in the upper end region of the central hole 44 of the lifting body 42 so as to be adjustable in height, and a height adjusting and fixing to the lifting body 42. It is comprised from the ring-shaped descent | fall limit stopper 47 attached to.

前記円筒形の昇降体４２は、下端の大径フランジ部４２ａから上端の回転操作用角軸部４２ｂまでの外周面がネジ軸部４２ｃとなっており、下端の大径フランジ部４２ａの上に牽引車吊上げ板４８をこの昇降体４２の周りに回転自在に遊嵌支持させると共に、当該牽引車吊上げ板４８の上にリング状のディスタンスピース４９を遊嵌支持させて、これら牽引車吊上げ板４８とリング状ディスタンスピース４９とで上昇限ストッパー５０を形成させた状態で、当該昇降体４２のネジ軸部４２ｃを、機体２Ａ側の連結板３８の中央に設けられた垂直に貫通するネジ孔５１に対して下側から上向きに螺合させ、連結板３８から上向きに突出している昇降体４２のネジ軸部４２ｃに前記リング状の下降限ストッパー４７を螺嵌させている。このリング状の下降限ストッパー４７は、回転させて昇降体４２に対する高さを調整した後に、周方向の二つ割部を締結ボルト４７ａで締結して縮径させることにより、昇降体４２に対して固定することが出来る。   The cylindrical elevating body 42 has a screw shaft portion 42c on the outer peripheral surface from the large-diameter flange portion 42a at the lower end to the angular shaft portion 42b for rotational operation at the upper end, on the large-diameter flange portion 42a at the lower end. The towing vehicle lifting plate 48 is freely loosely supported around the lifting body 42, and a ring-shaped distance piece 49 is loosely supported on the towing vehicle lifting plate 48. And the ring-shaped distance piece 49 in the state where the ascending limit stopper 50 is formed, a screw hole 51 that vertically penetrates the screw shaft portion 42c of the elevating body 42 in the center of the connecting plate 38 on the body 2A side. The ring-shaped descent limit stopper 47 is screwed onto the screw shaft portion 42c of the elevating body 42 projecting upward from the connecting plate 38. The ring-shaped descent limit stopper 47 is rotated to adjust the height relative to the lifting body 42, and then the circumferential split portion is fastened with a fastening bolt 47a to reduce the diameter, thereby preventing the lifting body 42 from moving. Can be fixed.

前記被連結軸体４３は、上端の大径フランジ部４３ａにおいて昇降体４２の中央孔部４４の下端で受け止められるもので、牽引車１側の牽引用垂直軸体２５が相対回転自在に上向きに内嵌する連結孔５２が下端から同心状に刻設されている。この連結孔５２の深さは、その下向きの底面５２ａが牽引車１側の牽引用垂直軸体２５の尖端部２５ａに当接するように設定されている。前記圧縮コイルバネ４５は、バネ受け４６と被連結軸体４３との間に介装され、その圧縮反力で被連結軸体４３を下向きに付勢する。而して、バネ受け４６の上面中央には、回転操作用の角孔部４６ａが設けられ、このバネ受け４６を回転させて昇降体４２に対する高さを調整することにより、圧縮コイルバネ４５の所期圧縮力を調整することが出来る。   The connected shaft body 43 is received by the lower end of the central hole 44 of the elevating body 42 in the large-diameter flange portion 43a at the upper end, and the vertical shaft body 25 for towing on the towing vehicle 1 side is turned upward to be relatively rotatable. A connecting hole 52 that fits inside is concentrically cut from the lower end. The depth of the connecting hole 52 is set such that the bottom surface 52a facing downward contacts the pointed portion 25a of the pulling vertical shaft body 25 on the towing vehicle 1 side. The compression coil spring 45 is interposed between the spring receiver 46 and the coupled shaft body 43, and urges the coupled shaft body 43 downward by the compression reaction force. Thus, a square hole portion 46a for rotational operation is provided at the center of the upper surface of the spring receiver 46, and the height of the lifting coil 42 is adjusted by rotating the spring receiver 46, whereby the compression coil spring 45 is located. The initial compression force can be adjusted.

昇降体４２に遊嵌支持されて上昇限ストッパー５０の一部を構成している牽引車吊上げ板４８は、平面視において連結板３８の前後両側に突出する両端部に、垂直に貫通する貫通孔４８ａ，４８ｂが設けられている。この一対の貫通孔４８ａ，４８ｂは、被連結軸体４３の連結孔５２に牽引車１側の牽引用垂直軸体２５が嵌合している、牽引車１と搬送台車２との連結状態において、牽引車吊上げ板４８を必要に応じて昇降体４２の周りに回転させることにより、牽引車１側の牽引用垂直軸体２５の取付け用座板２６に設けられている前後一対の垂直ネジ孔２７ａ，２７ｂの真上に合致させることが出来るものである。尚、連結手段４１の上側の操作用開口部５３、即ち、前端と２番目の横枠材３２ａ，３２ｂと左右一対の縦つなぎ材３６ａ，３６ｂとで囲まれた矩形領域の上端の操作用開口部５３には、カバープレート３９ａ〜３９ｌとは別の着脱自在なカバープレート５４が載置されている。 And forms a part are towing vehicle lifting plate 48 of the ascent limit stopper 50 is loosely fitted supported on the lifting body 42 is at both ends protruding front and rear sides of the connecting plate 38 in plan view, through the vertical directly through Holes 48a and 48b are provided. The pair of through-holes 48 a and 48 b are in a connected state between the towing vehicle 1 and the transport carriage 2 in which the towing vehicle 1 side towing vertical shaft body 25 is fitted in the connecting hole 52 of the connected shaft body 43. A pair of front and rear vertical screw holes provided in the mounting seat plate 26 of the vertical shaft body 25 for traction on the traction vehicle 1 side by rotating the traction vehicle lifting plate 48 around the lifting body 42 as necessary. 27a and 27b can be matched with each other. The operation opening 53 on the upper side of the connecting means 41, that is, the operation opening at the upper end of the rectangular area surrounded by the front end, the second horizontal frame members 32a and 32b, and the pair of left and right vertical connecting members 36a and 36b. A removable cover plate 54 different from the cover plates 39a to 39l is placed on the portion 53.

以上のように構成された牽引車１と搬送台車２とを連結するときは、搬送台車２の連結手段４１が内装された矩形領域をカバーしているカバープレート５４を取り外し、図９に示すように、昇降体４２を上端の回転操作用角軸部４２ｂを利用してネジ戻し方向に回転させ、下端の上昇限ストッパー５０のディスタンスピース４９が連結板３８に当接する上昇限まで昇降体４２を連結板３８に対して上昇させる。このとき、昇降体４２に支持されている被連結軸体４３は、圧縮コイルバネ４５の付勢力で大径フランジ部４３ａが昇降体４２の中央孔部４４の底部で支持される下降限位置まで降下しており、このときの当該被連結軸体４３の下端の床面上高さは、牽引車１の上側面（カバープレート３０ａ〜３０ｄの表面）から突出している牽引用垂直軸体２５の尖端部２５ａの床面上高さより少し高くなるように構成されている。この状態で、床面上に待機させている牽引車１に被さるように搬送台車２を手押し移動させ、搬送台車２側の上昇限位置に保持されている昇降体４２の下端から突出している被連結軸体４３が、牽引車１側の牽引用垂直軸体２５の尖端部２５ａの真上に位置する状態で搬送台車２を停止させる。 When connecting the tow truck 1 and the transport carriage 2 configured as described above, the cover plate 54 covering the rectangular area in which the connecting means 41 of the transport carriage 2 is installed is removed, as shown in FIG. Further, the lifting body 42 is rotated in the screw return direction by using the rotation operation angular shaft portion 42b at the upper end, and the lifting body 42 is moved to the ascending limit where the distance piece 49 of the ascending limit stopper 50 at the lower end contacts the connecting plate 38. The connection plate 38 is raised. At this time, the coupled shaft body 43 supported by the elevating body 42 is lowered to the lower limit position where the large-diameter flange portion 43a is supported by the bottom of the central hole 44 of the elevating body 42 by the urging force of the compression coil spring 45. The height on the floor surface of the lower end of the coupled shaft 43 at this time is the tip of the vertical shaft 25 for traction protruding from the upper side surface (the surface of the cover plates 30a to 30d) of the traction vehicle 1. It is comprised so that it may become a little higher than the height on the floor surface of the part 25a. In this state, the transport carriage 2 is pushed and moved so as to cover the towing vehicle 1 waiting on the floor, and the cover projecting from the lower end of the lifting body 42 held at the ascending limit position on the transport carriage 2 side. The transport carriage 2 is stopped in a state in which the connecting shaft body 43 is located immediately above the pointed portion 25a of the pulling vertical shaft body 25 on the towing vehicle 1 side.

次に、図１０に示すように、昇降体４２を上端の回転操作用角軸部４２ｂを利用してネジ込み方向に回転させ、当該昇降体４２を連結板３８に対して下降させる。この昇降体４２の下降により、最初に被連結軸体４３の連結孔５２が牽引車１側の牽引用垂直軸体２５に外嵌し、この牽引用垂直軸体２５の尖端部２５ａが連結孔５２の底面５２ａに当接した高さで被連結軸体４３の下降が止められるので、それ以降は被連結軸体４３に対して昇降体４２のみが下降し、この下降に伴い被連結軸体４３とバネ受け４６との間の間隔が狭まることにより、圧縮コイルバネ４５が圧縮され、その圧縮反力が被連結軸体４３を介して牽引車１側の牽引用垂直軸体２５に下向きに作用することになる。そして下降する昇降体４２が、図１０に示すようにその下降限ストッパー４７が連結板３８の上側面に当接する下降限に達したとき、牽引車１側の牽引用垂直軸体２５と搬送台車２側の連結孔５２との嵌合による連結が完了する。このとき、牽引車１側の左右一対の駆動車輪７ａ，７ｂには、搬送台車２側の連結手段４１の圧縮コイルバネ４５の圧縮反力が、被連結軸体４３から牽引用垂直軸体２５、牽引車１の機体１Ａ、駆動ユニット取付け部材１８ａ，１８ｂ、及び減速機付きモーター１９ａ，１９ｂを経由して下向きに伝達され、当該駆動車輪７ａ，７ｂの接地圧が増大されている。尚、牽引車１と搬送台車２との連結が完了したときは、取り外してあったカバープレート５４を、搬送台車２の連結手段４１の上側の操作用開口部５３に被せて蓋をしておく。 Next, as shown in FIG. 10, the elevating body 42 is rotated in the screwing direction by using the rotation operation angular shaft portion 42 b at the upper end, and the elevating body 42 is lowered with respect to the connecting plate 38. As the elevating body 42 is lowered, first, the connecting hole 52 of the connected shaft body 43 is externally fitted to the pulling vertical shaft body 25 on the towing vehicle 1 side, and the pointed portion 25a of the pulling vertical shaft body 25 is connected to the connecting hole. Since the lowering of the connected shaft body 43 is stopped at the height that is in contact with the bottom surface 52a of 52, only the lift 42 is lowered with respect to the connected shaft body 43 thereafter. When the distance between the spring 43 and the spring receiver 46 is reduced, the compression coil spring 45 is compressed, and the compression reaction force acts downward on the towing vertical shaft body 25 on the towing vehicle 1 side via the connected shaft body 43. Will do. When the ascending / descending body 42 reaches the descending limit where the descending limit stopper 47 abuts on the upper side surface of the connecting plate 38 as shown in FIG. 10, the towing vehicle 1 side towing vertical shaft body 25 and the transport carriage Connection by fitting with the connection hole 52 on the second side is completed. At this time, the compression reaction force of the compression coil spring 45 of the connecting means 41 on the transport carriage 2 side is applied to the pair of left and right drive wheels 7a and 7b on the towing vehicle 1 side from the connected shaft body 43 to the towing vertical shaft body 25, It is transmitted downward via the airframe 1A of the towing vehicle 1, the drive unit mounting members 18a and 18b, and the motors 19a and 19b with speed reducers, and the ground pressure of the drive wheels 7a and 7b is increased. When the connection between the towing vehicle 1 and the transport carriage 2 is completed, the removed cover plate 54 is put on the operation opening 53 on the upper side of the connection means 41 of the transport carriage 2 to cover it. .

上記のように牽引車１と搬送台車２とを連結することにより、牽引車１側の左右一対の駆動車輪７ａ，７ｂの接地圧を搬送台車２側の連結手段４１が備える圧縮コイルバネ４５により増大させることが出来るのであるが、このときの駆動車輪７ａ，７ｂの接地圧、即ち、圧縮コイルバネ４５の圧縮反力の大きさは、昇降体４２に対するバネ受け４６の高さ調整、又は連結部材３８に対する昇降体４２の下降限高さ、即ち、昇降体４２に対する下降限ストッパー４７の高さ調整により、一定範囲内で任意に調整することが出来る。又、牽引車１は、連結手段４１の牽引用垂直軸体２５の周りで搬送台車２に対して回転できるが、このときの搬送台車２に対する牽引車１の回動軌跡よりも後方側に、搬送台車２の左右一対の前側自在車輪５が配設されている。   By connecting the tow truck 1 and the transport carriage 2 as described above, the ground pressure of the pair of left and right drive wheels 7a and 7b on the tow truck 1 side is increased by the compression coil spring 45 provided in the connection means 41 on the transport carriage 2 side. The ground pressure of the drive wheels 7a and 7b at this time, that is, the magnitude of the compression reaction force of the compression coil spring 45 can be adjusted by adjusting the height of the spring receiver 46 relative to the lifting body 42 or the connecting member 38. By adjusting the lower limit height of the lifting body 42 with respect to the height, that is, the height of the lower limit stopper 47 with respect to the lifting body 42, it can be arbitrarily adjusted within a certain range. The towing vehicle 1 can rotate with respect to the transport carriage 2 around the pulling vertical shaft 25 of the connecting means 41, but at the rear side of the rotation trajectory of the towing vehicle 1 with respect to the transport carriage 2 at this time, A pair of left and right front wheels 5 of the transport carriage 2 are disposed.

而して、搬送台車２に連結された牽引車１の左右一対の駆動車輪７ａ，７ｂを夫々減速機付きモーター１９ａ，１９ｂにより前進方向に等速で回転駆動させることにより、牽引車１が直進し、搬送台車２は、牽引車１側の牽引用垂直軸体２５により、当該牽引用垂直軸体２５の周りに左右方向に揺動出来る状態で牽引され、追従走行することになる。牽引車１の操向は、左右一対の駆動車輪７ａ，７ｂの回転速度に差を生じさせることにより自在に行えるので、牽引車１とこれに牽引される搬送台車２を床面上に設定された走行経路に沿って走行させることが出来る。このとき、上記のように牽引車１の左右一対の駆動車輪７ａ，７ｂの接地圧が高められているので、仮に搬送台車２が自動車車体などの大重量の被搬送物Ｗを積載している場合でも、このときの牽引負荷に応じた接地圧を牽引車１の左右一対の駆動車輪７ａ，７ｂに生じさせることが出来るように、搬送台車２側の連結手段４１における圧縮コイルバネ４５の強さや初期圧縮応力を設定しておくことにより、牽引車１をしてスリップさせることなく確実に搬送台車２を牽引走行させることが出来る。   Thus, by driving the pair of left and right drive wheels 7a and 7b of the tow truck 1 connected to the transport carriage 2 at a constant speed in the forward direction by motors 19a and 19b with speed reducers, the tow truck 1 moves straight. Then, the transport carriage 2 is towed by the pulling vertical shaft body 25 on the towing vehicle 1 side so as to be swingable in the left-right direction around the pulling vertical shaft body 25. Steering vehicle 1 can be steered freely by making a difference between the rotational speeds of the pair of left and right drive wheels 7a and 7b, so that the towing vehicle 1 and the transport carriage 2 to be pulled by the towing vehicle 1 are set on the floor surface. It is possible to travel along the travel route. At this time, since the ground pressure of the pair of left and right drive wheels 7a and 7b of the towing vehicle 1 is increased as described above, the transport carriage 2 temporarily loads a heavy transport object W such as an automobile body. Even in this case, the strength of the compression coil spring 45 in the connecting means 41 on the transport carriage 2 side can be increased so that the ground pressure corresponding to the traction load at this time can be generated in the pair of left and right drive wheels 7a and 7b. By setting the initial compressive stress, the transport carriage 2 can be reliably towed without causing the tow truck 1 to slip.

上記のようにして一定走行経路上で牽引車１により搬送台車２を牽引走行させることが出来るのであるが、牽引車１は、その全体が搬送台車２と床面との間を走行できる扁平な低床構造のものであるから、図１Ｂに示すように、牽引する搬送台車２の前端から前方に突出する各牽引車１の前半部が直前の先行搬送台車２の下側に入り込んで、前後に隣り合って夫々牽引車１で牽引される搬送台車２の前後両端が互いに小間隙を隔てて連続する形態を保たせながら、走行させることが可能である。このとき、直前の先行搬送台車２の機体２Ａの後端辺から後方に延出している機体間カバープレート４０が、直後の後続搬送台車２の機体２Ａの前端上に被さって、前後に隣接する搬送台車２の機体２Ａ間の隙間を塞いでいる。   As described above, the tow truck 1 can be towed by the tow truck 1 on a fixed travel route. However, the tow truck 1 is flat so that the entire tow truck 1 can travel between the transport carriage 2 and the floor surface. Since it is of a low floor structure, as shown in FIG. 1B, the front half of each towing vehicle 1 protruding forward from the front end of the towed carriage 2 enters the lower side of the preceding preceding carriage 2 and It is possible to run while maintaining a form in which the front and rear ends of the transport carriage 2 that are adjacent to each other and are pulled by the towing vehicle 1 are continuous with a small gap therebetween. At this time, the inter-machine cover plate 40 extending rearward from the rear end side of the machine body 2A of the immediately preceding transport carriage 2 covers the front end of the machine body 2A of the immediately subsequent transport carriage 2 and is adjacent to the front and rear. A gap between the machine bodies 2A of the transport carriage 2 is closed.

上記のように搬送台車２を牽引走行させる牽引車１であるが、その駆動ユニット２０ａ，２０ｂの減速機付きモーター１９ａ，１９ｂが故障した場合、牽引車１を手作業で引っ張るか又は搬送台車２を後押しして、走行経路上から別の場所に移動させる必要が生じる。このとき、駆動車輪７ａ，７ｂの駆動系の構成により、当該駆動車輪７ａ，７ｂがロック状態になっているときは、牽引車１と搬送台車２とが連結された列車構造体を手作業により移動させることが出来ない。仮に減速機付きモーター１９ａ，１９ｂを通電駆動していないときに駆動車輪７ａ，７ｂがフリーになる構造であったとしても、上記列車構造体を手作業で移動させる場合、前半部のみが搬送台車２から前方に延出している小型の牽引車１を操作するよりも、大型の搬送台車２をその周囲から操作する方が容易である。   Although it is the towing vehicle 1 which makes the conveyance carriage 2 tow as described above, when the motors 19a and 19b with speed reducers of the drive units 20a and 20b break down, the towing vehicle 1 is pulled manually or the conveyance carriage 2 Need to be moved to another place on the travel route. At this time, when the drive wheels 7a and 7b are in a locked state due to the configuration of the drive system of the drive wheels 7a and 7b, the train structure in which the tow vehicle 1 and the transport carriage 2 are coupled is manually operated. It cannot be moved. Even if the drive wheels 7a and 7b are free when the motors 19a and 19b with speed reducers are not energized and driven, when the train structure is moved manually, only the first half is a carriage. It is easier to operate the large transport carriage 2 from the surroundings than to operate the small tow truck 1 extending forward from 2.

上記のような状況に陥った場合、図７、図８、及び図１１に示すように、搬送台車２の連結手段４１の上側の操作用開口部５３をカバーしているカバープレート５４を取り外し、横枠材３２ａ，３２ｂ、支持板３７ａ，３７ｂ、及び連結板３８によって囲まれた、連結板３８の前後の空間から手先を差し入れて、昇降体４２の下端の大径フランジ部４２ａ上に回転自在に支持されている牽引車吊上げ板４８を昇降体４２の周りに回転させ、その両端にある貫通孔４８ａ，４８ｂを連結板３８の前後の空間内に臨ませると共に、その下側に位置する牽引車１の牽引用垂直軸体２５を機体１Ａに取り付けている取付け用座板２６の前後一対の垂直ネジ孔２７ａ，２７ｂと前記貫通孔４８ａ，４８ｂとを上下ほぼ同心状態に位置決めする。この状態で、図１１に示すように、牽引車吊上げ板４８の貫通孔４８ａ，４８ｂに上から差し込んだボルト５５ａ，５５ｂを牽引車１側の前記垂直ネジ孔２７ａ，２７ｂに螺合連結させる。そして昇降体４２を、搬送台車２との連結の準備段階で行ったようにネジ戻し方向に回転操作して連結板３８に対して上昇させることにより、当該昇降体４２と一体に引き上げられる前記牽引車吊上げ板４８と２本のボルト５５ａ，５５ｂとを介して、牽引車１の駆動車輪７ａ，７ｂが配置された長さ方向の中央付近を搬送台車２側に吊り上げることが出来る。   When falling into the above situation, as shown in FIGS. 7, 8, and 11, the cover plate 54 covering the operation opening 53 on the upper side of the connecting means 41 of the transport carriage 2 is removed, A hand is inserted from the space before and after the connection plate 38 surrounded by the horizontal frame members 32a and 32b, the support plates 37a and 37b, and the connection plate 38, and is freely rotatable on the large-diameter flange portion 42a at the lower end of the elevating body 42. The towing vehicle lifting plate 48 supported on the upper and lower bodies is rotated around the elevating body 42 so that the through holes 48a and 48b at both ends thereof face the space before and after the connecting plate 38, and the tow located below the connecting plate 38 A pair of front and rear vertical screw holes 27a, 27b and the through holes 48a, 48b of the mounting seat plate 26 for attaching the vertical shaft body 25 for traction of the vehicle 1 to the body 1A are positioned substantially concentrically. In this state, as shown in FIG. 11, bolts 55a and 55b inserted from above into the through holes 48a and 48b of the towing vehicle lifting plate 48 are screwed and connected to the vertical screw holes 27a and 27b on the towing vehicle 1 side. The lifting body 42 is lifted up integrally with the lifting body 42 by rotating the lifting body 42 in the screw return direction and raising the lifting body 42 with respect to the connection plate 38 as in the preparation stage of the connection with the transport carriage 2. Via the vehicle lifting plate 48 and the two bolts 55a and 55b, the vicinity of the center in the length direction where the driving wheels 7a and 7b of the towing vehicle 1 are arranged can be lifted to the transport carriage 2 side.

上記説明から明らかなように、この実施例では、搬送台車２に設けられた牽引車吊上げ手段５６は、牽引車１と搬送台車２とを連結する連結手段４１を構成している昇降体４２、この昇降体４２に当該昇降体４２の垂直軸心の周りに回転自在に支持された牽引車吊上げ板４８、牽引車１の機体１Ａ側に設けられた垂直ネジ孔２７ａ，２７ｂ、及び前記牽引車吊上げ板４８を下向きに貫通して前記垂直ネジ孔２７ａ，２７ｂに螺合連結されるボルト５５ａ，５５ｂから構成されている。   As is clear from the above description, in this embodiment, the towing vehicle lifting means 56 provided on the transport carriage 2 is a lifting body 42 that constitutes a connecting means 41 that connects the towing truck 1 and the transport carriage 2, A towing vehicle lifting plate 48 rotatably supported around the vertical axis of the elevating body 42, vertical screw holes 27a and 27b provided on the body 1A side of the towing vehicle 1, and the towing vehicle. It comprises bolts 55a and 55b that pass through the lifting plate 48 downward and are screwed to the vertical screw holes 27a and 27b.

牽引車１は、図２に示すように、長さ方向の中央付近に牽引用垂直軸体２５と左右一対の駆動車輪７ａ，７ｂが配置され、この位置よりも後ろ側に駆動ユニット２０ａ，２０ｂの減速機付きモーター１９ａ，１９ｂとバッテリー１５を積載したバッテリー収納空間１６が配置され、後端に自在車輪８が配置されているので、機体１Ａの重心位置は、牽引用垂直軸体２５よりも後端側に位置する。従って、牽引車１の牽引用垂直軸体２５の前後２箇所を搬送台車２側からボルト５５ａ，５５ｂで吊り上げると、図１２に示すように、牽引車１は後端中央位置の自在車輪８を支点に前上がりに傾斜し、左右一対の駆動車輪７ａ，７ｂは床面から浮き上がることになる。そしてボルト５５ａ，５５ｂを介して牽引車１を吊り上げている牽引車吊上げ板４８が昇降体４２の周りに回転自在であることと、牽引車１側の牽引用垂直軸体２５が昇降体４２と同心状に配置されている連結孔５２に対して相対回転自在に嵌合していることとにより、吊り上げられて後端の自在車輪８においてのみ接地している牽引車１は、昇降体４２の周りに回転することが出来る状況にある。従って、搬送台車２の周囲を任意の方向に押して、牽引車１と共に搬送台車２を走行経路の外へ容易に移動させることが出来る。   As shown in FIG. 2, the towing vehicle 1 is provided with a towing vertical shaft body 25 and a pair of left and right drive wheels 7a and 7b in the vicinity of the center in the length direction, and the drive units 20a and 20b behind the position. The battery housing space 16 loaded with the motors 19a, 19b with the speed reducer and the battery 15 is disposed, and the free wheel 8 is disposed at the rear end. Therefore, the center of gravity of the body 1A is located more than the vertical shaft body 25 for traction. Located on the rear end side. Accordingly, when the two front and rear parts of the vertical shaft body 25 for towing of the towing vehicle 1 are lifted by the bolts 55a and 55b from the conveying carriage 2 side, the towing vehicle 1 has the free wheel 8 at the center position of the rear end as shown in FIG. The pair of left and right drive wheels 7a and 7b are lifted from the floor surface by tilting forward to the fulcrum. The towing vehicle lifting plate 48 that lifts the towing vehicle 1 via the bolts 55a and 55b is rotatable around the elevating body 42, and the towing vehicle 1 side towing vertical shaft 25 is connected to the elevating body 42. The towing vehicle 1 that is lifted and grounded only at the rear end of the free wheel 8 is fitted to the connecting hole 52 that is concentrically arranged. You can rotate around. Accordingly, the periphery of the transport carriage 2 can be pushed in any direction, and the transport carriage 2 together with the towing vehicle 1 can be easily moved out of the travel route.

又、牽引車１と搬送台車２とが上記のように連結されている状態では、その牽引車１のバッテリー収納空間１６を備えた後半部が搬送台車２の下側に入り込んでいるが、図１３に示すように、搬送台車２の上面を覆っているカバープレート３９ａ〜３９ｌの内、機体２Ａの横枠材３２ｂ，３２ｃと中間縦枠材３３ａ，３３ｂで囲まれた矩形領域、即ち、下側に位置する牽引車１のバッテリー収納空間１６の真上に位置し且つ当該バッテリー収納空間１６よりも平面積の大きな矩形領域、をカバーしているカバープレート３９ｄを取り外すことにより、そのカバープレート３９ｄの取り外し跡の大きな矩形状開口を通じて、牽引車１のバッテリー収納空間１６をカバーしているカバープレート３０ｄを取り外し、当該バッテリー収納空間１６を開放することが出来るので、バッテリー１５の保守点検作業などが必要になったときでも、牽引車１を搬送台車２から離脱させることなく、走行経路上にある姿のまま容易に当該バッテリー１５の保守点検作業などを行うことが出来る。   In the state where the tow truck 1 and the transport carriage 2 are connected as described above, the rear half portion of the tow truck 1 including the battery storage space 16 enters the lower side of the transport carriage 2. 13, among the cover plates 39a to 39l covering the upper surface of the transport carriage 2, a rectangular region surrounded by the horizontal frame members 32b and 32c and the intermediate vertical frame members 33a and 33b of the machine body 2A, that is, the bottom The cover plate 39d is removed by removing the cover plate 39d that covers a rectangular region that is located directly above the battery storage space 16 of the tow truck 1 and that has a larger planar area than the battery storage space 16. The cover plate 30d covering the battery storage space 16 of the towing vehicle 1 is removed through a rectangular opening having a large removal mark, and the battery storage space 16 is removed. Since the battery 15 can be released, the maintenance of the battery 15 can be easily maintained while remaining on the travel route without causing the towing vehicle 1 to be detached from the transport carriage 2 even when maintenance and inspection work of the battery 15 is required. Inspection work can be performed.

更に、先に説明したように、走行経路上で各搬送台車２が、その前後両端辺が互いに隣接する連続状態で牽引車１により牽引駆動される場合には、牽引車１はその全体が前後に隣接する搬送台車２の下側に隠れてしまう。このような場合でも、牽引車１の前半部に被さっている直前の先行搬送台車２の上面を覆っているカバープレート３９ａ〜３９ｌの内、機体２Ａの横枠材３２ｆ，３２ｇと中間縦枠材３３ｄ，３３ｅで囲まれた矩形領域、即ち、下側に位置する牽引車１の制御機器収納空間１３の真上に位置し且つ当該制御機器収納空間１３よりも平面積の大きな矩形領域、をカバーしているカバープレート３９ｋを取り外すことにより、そのカバープレート３９ｋの取り外し跡の大きな矩形状開口を通じて、牽引車１の制御機器収納空間１３をカバーしているカバープレート３０ａ，３０ｂを取り外し、当該制御機器収納空間１３を開放することが出来るので、制御機器１２の保守点検作業などが必要になったときでも、牽引車１が走行経路上にある姿のまま容易に当該制御機器１２の保守点検作業などを行うことが出来る。   Further, as described above, when each transport carriage 2 is tow-driven by the towing vehicle 1 in a continuous state in which the front and rear ends thereof are adjacent to each other on the travel route, the entire towing vehicle 1 is front and rear. It will be hidden under the transport carriage 2 adjacent to. Even in such a case, the horizontal frame members 32f and 32g and the intermediate vertical frame member of the body 2A among the cover plates 39a to 39l covering the upper surface of the preceding transport carriage 2 immediately before the front half of the towing vehicle 1 is covered. Covers a rectangular region surrounded by 33d and 33e, that is, a rectangular region located directly above the control device storage space 13 of the towing vehicle 1 located below and having a larger plane area than the control device storage space 13. By removing the cover plate 39k, the cover plates 30a and 30b covering the control device storage space 13 of the towing vehicle 1 are removed through the rectangular opening where the removal mark of the cover plate 39k is removed. Since the storage space 13 can be opened, the towing vehicle 1 remains on the travel route even when maintenance and inspection work of the control device 12 is required. Readily such as maintenance and inspection of the control device 12 can be performed.

次に、上記のように構成された、連結手段４１を介して牽引車１に牽引される搬送台車２を、図１４及び図１５に示すように、互いに並列する往行経路部５７と復行経路部５８とを有する走行経路上で循環走行させる場合の、往行経路部５７と復行経路部５８との間のターン部における牽引車１の操向制御方法について、往行経路部５７の終端位置から復行経路部５８の始端位置への操向手順を例にとって説明する。尚、復行経路部５８の終端位置から往行経路部５７の始端位置への操向手順は、向きが異なるだけで全く同一の手順であるから、説明は省略する。   Next, as shown in FIGS. 14 and 15, the transport carriage 2 towed by the towing vehicle 1 through the connecting means 41 configured as described above is connected to the outward path section 57 and the return path section parallel to each other. Regarding the steering control method of the towing vehicle 1 in the turn part between the forward path part 57 and the backward path part 58 when circulating on a travel route having the path part 58, A steering procedure from the end position to the start position of the return path section 58 will be described as an example. The steering procedure from the end position of the return path section 58 to the start position of the outbound path section 57 is exactly the same except that the direction is different, and the description thereof will be omitted.

図１４に示すように、往行経路部５７の終端と復行経路部５８の始端とは、これら各経路部に対して直角横向きの直角接続経路部５９で接続されている。而して、牽引車１が、牽引する搬送台車２の左右一対の後ろ側向き固定車輪６間の仮想旋回中心Ｓが往行経路部５７と直角接続経路部５９との交点に位置する、第一定位置Ｐ１に達したところで牽引車１を停止させる。次にこの牽引車１の左右一対の駆動車輪７ａ，７ｂを互いに逆方向に回転駆動して、当該牽引車１のみを、搬送台車２との連結手段４１の牽引用垂直軸体２５の周りで復行経路部５８のある側へ旋回させる。この牽引車１が、搬送台車２に対する直進牽引姿勢１Ｘから９０度旋回して当該搬送台車２に対して直角横向き姿勢１Ｙになる第二定位置Ｐ２に達したとき、牽引車１の旋回動作を停止させる。次にその牽引車１を直角横向き姿勢１Ｙで前進走行させるべく、左右一対の駆動車輪７ａ，７ｂを同一方向に駆動すると、搬送台車２は、前輪は自在車輪５であるが後輪は直進向きに向きが固定された左右一対の向き固定車輪６であるから、牽引車１の直角横向きの走行に対しては実質的に前進走行を伴うことなく、前記仮想旋回中心Ｓの周りに旋回しながら牽引車１の前進走行を許すことになるので、結果的に牽引車１は、搬送台車２の前記仮想旋回中心Ｓと同心状の９０度円弧経路部６０上を復行経路部５８のある側へ走行しながら、搬送台車２を、前記仮想旋回中心Ｓの周りに復行経路部５８のある側へ旋回させることになる。勿論、この搬送台車２の旋回運動を正確に実行させるために、換言すれば、牽引車１を前記９０度円弧経路部６０上で正確に旋回走行させるために、牽引車１の左右一対の駆動車輪７ａ，７ｂを同一速度ではなく速度差をつけて駆動しても良い。   As shown in FIG. 14, the end of the forward path portion 57 and the start end of the return path portion 58 are connected to each of these path portions by a right angle connection path portion 59 that is perpendicular to the right side. Thus, the virtual turning center S between the pair of left and right rear-facing fixed wheels 6 of the transport cart 2 to which the towing vehicle 1 is towed is positioned at the intersection of the forward path portion 57 and the right-angle connection path portion 59. When the vehicle reaches the fixed position P1, the towing vehicle 1 is stopped. Next, the pair of left and right drive wheels 7a and 7b of the tow truck 1 are rotationally driven in directions opposite to each other so that only the tow truck 1 is moved around the towing vertical shaft body 25 of the connecting means 41 with the transport carriage 2. The return path 58 is turned to the side. When the tow vehicle 1 turns 90 degrees from the straight towing posture 1X with respect to the transport carriage 2 and reaches the second fixed position P2 in the right-angled lateral orientation 1Y with respect to the transport carriage 2, the turning operation of the tow truck 1 is performed. Stop. Next, when the pair of left and right drive wheels 7a and 7b are driven in the same direction so that the towing vehicle 1 travels forward in a right-angled lateral orientation 1Y, the transport cart 2 has the front wheels as the free wheels 5 but the rear wheels are in the straight direction. Since the pair of left and right direction fixed wheels 6 are fixed to each other, the towing vehicle 1 is turned around the virtual turning center S without substantially moving forward with respect to the right-angle sideways traveling. Since the towing vehicle 1 is allowed to travel forward, as a result, the towing vehicle 1 is on the side where the retrograde path portion 58 is located on the 90-degree arc path portion 60 concentric with the virtual turning center S of the transport carriage 2. The carriage 2 is turned around the virtual turning center S to the side where the return path portion 58 is located. Of course, in order to accurately execute the turning motion of the transport carriage 2, in other words, in order to cause the towing vehicle 1 to turn accurately on the 90-degree arc path portion 60, a pair of left and right drives of the towing vehicle 1 are driven. The wheels 7a and 7b may be driven with a speed difference instead of the same speed.

上記の牽引車１の操向操作により、往行経路部５７と平行な直進姿勢２Ｘにあった搬送台車２の向きを直角横向き姿勢２Ｙに切り換え終わる第三定位置Ｐ３に牽引車１が到達したならば、牽引車１の走行を停止し、続いて牽引車１の左右一対の駆動車輪７ａ，７ｂを、先に行った正逆回転駆動時とは回転方向が逆になるように正逆回転駆動し、牽引車１のみを搬送台車２との連結手段４１の牽引用垂直軸体２５の周りに、搬送台車２が旋回した方向とは逆方向に９０度旋回させて、当該牽引車１を第四定位置Ｐ４で停止させ、当該牽引車１を搬送台車２に対して元の直進牽引姿勢１Ｘに戻す。尚、搬送台車２に対する牽引車１の直進牽引姿勢１Ｘと直角横向き姿勢１Ｙとの間の正逆旋回運動は、搬送台車２との連結手段４１の牽引用垂直軸体２５の左右対称位置に各別に正逆回転駆動自在な駆動車輪７ａ，７ｂが設けられていることと、自動車車体などの重量物を積載する搬送台車２の対地移動抵抗が大きいことと、牽引車１の後輪が当該牽引車１の前後方向センターライン上の１つの自在車輪８で構成されていることにより、円滑且つ確実に行われる。勿論、牽引車１の後輪は、左右一対の自在車輪で構成しても良い。   As a result of the steering operation of the towing vehicle 1, the towing vehicle 1 arrives at the third fixed position P3 where the direction of the transport carriage 2 that was in the straight traveling posture 2X parallel to the forward path portion 57 is switched to the right-angled horizontal posture 2Y. Then, the traveling of the tow vehicle 1 is stopped, and then the pair of left and right drive wheels 7a and 7b of the tow vehicle 1 are rotated forward and backward so that the rotation direction is opposite to that at the time of the forward / reverse rotation driving performed previously. The towing vehicle 1 is rotated 90 degrees around the towing vertical shaft 25 of the connecting means 41 with the transporting carriage 2 and 90 degrees in the direction opposite to the direction in which the transporting carriage 2 has swung. The vehicle is stopped at the fourth fixed position P4, and the traction vehicle 1 is returned to the original straight-traction traction posture 1X with respect to the transport carriage 2. The forward / reverse turning movement between the straight pulling posture 1X and the right-angled horizontal posture 1Y of the towing vehicle 1 with respect to the transport carriage 2 is changed to the left and right symmetrical positions of the pulling vertical shaft body 25 of the connecting means 41 with the transport carriage 2. Separately, the drive wheels 7a and 7b that can be driven forward and backward are provided, the ground movement resistance of the transport carriage 2 on which heavy objects such as an automobile body are loaded, and the rear wheels of the towing vehicle 1 are towed. By comprising one universal wheel 8 on the front-rear direction center line of the vehicle 1, smooth and reliable operation is performed. Of course, the rear wheel of the towing vehicle 1 may be composed of a pair of left and right universal wheels.

牽引車１に対する上記操向操作により、搬送台車２とこれを牽引する牽引車１とが、往行経路部５７の終端と直角接続経路部５９との交点の周りに９０度旋回して、往行経路部５７に対し直角横向きの姿勢に切り換わったことになるので、この後、牽引車１を直角接続経路部５９の延長線上の直進経路部６１上で直進走行させ、図１５に示すように、牽引される搬送台車２の前記仮想旋回中心Ｓが直角接続経路部５９と復行経路部５８との交点上に位置する第五定位置Ｐ５に達したところで牽引車１を停止させる。この後は、往行経路部５７の終端側の第一定位置Ｐ１で停止させた搬送台車２と牽引車１とを直角横向きの姿勢に切り換えるために行った一連の操向操作と同一の操向操作を牽引車１に対して行い、牽引車１の第五定位置Ｐ５から第六定位置Ｐ６までの搬送台車２に対する旋回運動、牽引車１の第六定位置Ｐ６から第七定位置Ｐ７までの、搬送台車２の前記仮想旋回中心Ｓと同心状の９０度円弧経路部６２上での旋回走行、及び牽引車１の第七定位置Ｐ７から第八定位置Ｐ８までの搬送台車２に対する旋回運動により、搬送台車２を復行経路部５８と平行な直進姿勢２Ｘに切り換えると共に牽引車１を当該復行経路部５８と平行な直進牽引姿勢１Ｘに切り換えることが出来る。従って、その直進牽引姿勢１Ｘの牽引車１を前進走行させることにより、牽引する搬送台車２を復行経路部５８上で直進走行させることが出来る。 By the steering operation for the towing vehicle 1, the transport carriage 2 and the towing vehicle 1 that pulls the towing vehicle 1 turn 90 degrees around the intersection of the end of the outward path portion 57 and the right-angled connection path portion 59, Since the posture is switched to a right-angled lateral orientation with respect to the row path portion 57, the towing vehicle 1 is thereafter caused to travel straight on a straight path portion 61 on an extension line of the right-angle connection path portion 59, as shown in FIG. At the same time, when the virtual turning center S of the towed carriage 2 reaches the fifth fixed position P5 located on the intersection of the right-angled connection path portion 59 and the return path portion 58, the towing vehicle 1 is stopped. Thereafter, the same operation as the series of steering operations performed to switch the transport cart 2 and the towing vehicle 1 stopped at the first fixed position P1 on the terminal end side of the forward path portion 57 to the right-angled horizontal posture. The directional operation is performed on the towing vehicle 1, the turning movement of the towing vehicle 1 with respect to the transport carriage 2 from the fifth fixed position P5 to the sixth fixed position P6, the sixth fixed position P6 to the seventh fixed position P7 of the towing vehicle 1 To the transport carriage 2 from the seventh fixed position P7 to the eighth fixed position P8 of the towing vehicle 1 and turning on the 90-degree arc path portion 62 concentric with the virtual turning center S of the transport cart 2 the pivoting movement, the platform car 2 go-around path portion 58 and the tractor 1 the inbound path portion 58 and can be switch to parallel straight traction posture 1X with switched parallel straight posture 2X. Accordingly, the towed carriage 2 can be caused to travel straight on the return path 58 by causing the towing vehicle 1 in the straight towing posture 1X to travel forward.

即ち、直進姿勢２Ｘの搬送台車２とこれを牽引する直進牽引姿勢１Ｘの牽引車１の全体を、搬送台車２に対する牽引車１のみの正逆旋回動作と、搬送台車２の前記仮想旋回中心Ｓと同心状の９０度円弧経路部６０，６２上で牽引車１を旋回走行させることの組み合わせにより、搬送台車２の前記仮想旋回中心Ｓの位置を実質的に変化させないで、搬送台車２を直角横向き姿勢２Ｙに変化させると共に当該搬送台車２に対して牽引車１を直進牽引姿勢１Ｘに維持させることが出来るので、この搬送台車２とこれを牽引する牽引車１の全体を直角横向きの姿勢に変化させるための一連の操作を２回実行して、搬送台車２とこれを牽引する牽引車１の全体の向きを１８０度転換させる間に、搬送台車２の前記仮想旋回中心Ｓの位置を、往行経路部５７の終端と復行経路部５８の始端との間の直角接続経路部５９上で直線的に移動させるための牽引車１の搬送台車牽引動作を組み込むことにより、搬送台車２とこれを牽引する牽引車１の全体を、往行経路部５７の終端位置から復行経路部５８の始端位置へ、向きを１８０度転換させた状態で乗り移らせることが出来る。 That is, the transport cart 2 in the straight traveling posture 2X and the entire towing vehicle 1 in the straight traveling pulling posture 1X that pulls it are moved forward and backward by only the pulling vehicle 1 with respect to the transport cart 2 and the virtual turning center S of the transport cart 2 The trolley 1 is rotated at right angles without substantially changing the position of the virtual turning center S of the transport trolley 2 by the combination of turning the towing vehicle 1 on the concentric 90-degree arc path portions 60 and 62. Since the tractor 1 can be maintained in the straight traction posture 1X with respect to the conveyance carriage 2 while being changed to the lateral orientation 2Y , the conveyance carriage 2 and the traction vehicle 1 that pulls the carriage 2 are brought into a right-angled lateral orientation. While performing a series of operations for changing twice to change the entire direction of the transport carriage 2 and the towing vehicle 1 that pulls it, the position of the virtual turning center S of the transport carriage 2 is Outbound route part 5 Incorporating a transport carriage pulling operation of the tow truck 1 for linear movement on the right angle connection path section 59 between the end of the carriage path and the start end of the return path section 58, thereby pulling the transport carriage 2 and the towing truck pulling it. The entire vehicle 1 can be transferred from the end position of the forward path section 57 to the start position of the return path section 58 with the direction changed by 180 degrees.

尚、上記の牽引車１に対する操向操作は、従来周知の制御手段、即ち、牽引車１の一定箇所が前記各定位置Ｐ１〜Ｐ８に達したことを検出する手段、例えば牽引車１が走行乃至旋回する各経路５７，５８及び６０〜６２上の各定位置Ｐ１〜Ｐ８に配設された被検出マーカーと、当該各被検出マーカーを検出するために牽引車１側に設けられたセンサーとの組み合わせから成る手段や、牽引車１の左右一対の各駆動車輪７ａ，７ｂの回転量を各別に検出するパルスエンコーダーなどを利用して、全自動的に行わせることが出来る。勿論、搬送台車２に対する牽引車１の旋回運動は、搬送台車２側に設けられた被検出マーカーを牽引車１側のセンサーで検出する手段を利用して自動制御することも可能である。   The steering operation for the towing vehicle 1 is performed by a conventionally known control means, that is, a means for detecting that a certain position of the towing vehicle 1 has reached the fixed positions P1 to P8, for example, the towing vehicle 1 travels. Thru the to-be-towed vehicle 1 side in order to detect the to-be-detected marker arrange | positioned in each fixed position P1-P8 on each path | route 57,58 and 60-62 to turn, and each said to-be-detected marker, It is possible to perform the operation automatically by using a combination of the above and a pulse encoder that separately detects the rotation amounts of the pair of left and right drive wheels 7a and 7b of the tow truck 1. Of course, the turning motion of the tow truck 1 relative to the transport carriage 2 can be automatically controlled using means for detecting a detected marker provided on the transport carriage 2 side with a sensor on the tow truck 1 side.

尚、本発明においては、牽引車１と搬送台車２とを連結する連結手段４１は、牽引車１と搬送台車２の内の一方に突設した垂直軸体と、この垂直軸体が嵌合するように牽引車１と搬送台車２の内の他方に設けた連結孔とから成る、従来周知の単純な構成のものであっても良い。勿論、牽引車吊上げ手段５６は、本発明に必須のものではなく、無くとも良い。   In the present invention, the connecting means 41 for connecting the tow truck 1 and the transport carriage 2 is fitted with a vertical shaft body projecting on one of the tow truck 1 and the transport carriage 2 and the vertical shaft body. In this way, a conventionally well-known simple configuration including the connecting hole provided in the other of the towing vehicle 1 and the transport carriage 2 may be used. Of course, the towing vehicle lifting means 56 is not essential to the present invention and may be omitted.

本発明の牽引車利用の台車式搬送装置は、並列する往行経路部と復行経路部とを備えた自動車組立てラインにおいて、自動車車体を積載する搬送台車を牽引車で牽引走行させることにより、自動車車体を搬送する搬送装置として活用できる。   The trolley-type transfer device using the tow truck of the present invention is to pull the carrier truck loaded with the automobile body with a tow truck in an automobile assembly line having a parallel forward path section and a backward path section, It can be used as a transport device for transporting automobile bodies.

１ 牽引車
２ 搬送台車
５ 前側自在車輪
６ 後ろ側向き固定車輪
７ａ，７ｂ 駆動車輪
８ 自在車輪
１２ 制御機器
１３ 制御機器収納空間
１５ バッテリー
１６ バッテリー収納空間
１９ａ，１９ｂ 減速機付きモーター
２５ 牽引用垂直軸体
２５ａ 尖端部
２６ 取付け用座板
２７ａ，２７ｂ 垂直ネジ孔
３０ａ〜３０ｄ，３９ａ〜３９ｌ，５４ カバープレート
３８ 連結板
４０ 機体間カバープレート
４１ 連結手段
４２ 昇降体
４２ａ 大径フランジ部
４２ｂ 回転操作用角軸部
４２ｃ ネジ軸部
４３ 被連結軸体
４３ａ 大径フランジ部
４４ 中央孔部
４４ａ ネジ孔部
４５ 圧縮コイルバネ
４６ バネ受け
４６ａ 角孔部
４７ 下降限ストッパー
４８ 牽引車吊上げ板
４８ａ，４８ｂ 貫通孔
４９ ディスタンスピース
５０ 上昇限ストッパー
５１ ネジ孔
５２ 連結孔
５２ａ 底面
５３ 操作用開口部
５５ａ，５５ｂ ボルト
５６ 牽引車吊上げ手段
５７ 往行経路部
５８ 復行経路部
５９ 直角接続経路部
６０，６２ ９０度円弧経路部
６１ 直進経路部
Ｐ１〜Ｐ８ 牽引車を停止させる各定位置 DESCRIPTION OF SYMBOLS 1 Towing vehicle 2 Conveying cart 5 Front free wheel 6 Backward fixed wheel 7a, 7b Drive wheel 8 Free wheel 12 Control device 13 Control device storage space 15 Battery 16 Battery storage space 19a, 19b Motor with reduction gear 25 Vertical shaft for towing Body 25a Pointed portion 26 Mounting seat plate 27a, 27b Vertical screw holes 30a-30d, 39a-391, 54 Cover plate 38 Connecting plate 40 Inter-machine cover plate 41 Connecting means 42 Lifting body 42a Large diameter flange portion 42b Angle for rotation operation Shaft portion 42c Screw shaft portion 43 Connected shaft body 43a Large diameter flange portion 44 Center hole portion 44a Screw hole portion 45 Compression coil spring 46 Spring receiver 46a Square hole portion 47 Lower limit stopper 48 Traction vehicle lifting plate 48a, 48b Through hole 49 Distance Peace 50 Ascent end stopper 51 G hole 52 Connecting hole 52a Bottom surface 53 Operation opening 55a, 55b Bolt 56 Towing vehicle lifting means 57 Forward path part 58 Reverse path part 59 Right angle connection path part 60, 62 90 degree arc path part 61 Straight path part P1 P8 Each fixed position that stops the towing vehicle

Claims (3)

自走可能な牽引車と、当該牽引車によって垂直軸体周りに相対回動自在に牽引される搬送台車とから成り、前記牽引車は、搬送台車に対して前記垂直軸体の周りに左右に旋回可能に構成され、前記搬送台車は、後輪として左右一対の向き固定車輪を備えている台車式搬送装置の操向制御方法において、前記搬送台車が走行経路終端に達した状態で前記牽引車を停止させ、次に牽引車を搬送台車に対して前記垂直軸体の周りに直角横向き姿勢まで旋回させ、この直角横向き姿勢の牽引車の前進走行により前記搬送台車を、前記左右一対の向き固定車輪間の中央位置を旋回中心として前記走行経路に対し直角横向き姿勢まで旋回させ、この後、前記牽引車を搬送台車に対し前記垂直軸体の周りに反対方向に旋回させて、元の牽引姿勢に復帰させることを特徴とする、台車式搬送装置の操向制御方法。 It consists of a self-propelled towing vehicle and a transporting carriage that is towed relative to the vertical shaft body by the towing vehicle, and the towing car is moved left and right around the vertical shaft body with respect to the transporting carriage. In the steering control method of a cart type transport device that is configured to be capable of turning and has a pair of left and right direction fixed wheels as rear wheels, the tow vehicle is in a state where the transport cart has reached the end of the travel path. Next, the towing vehicle is turned to the right-angled horizontal posture around the vertical shaft body with respect to the conveyance carriage, and the conveyance carriage is fixed to the pair of left and right directions by the forward traveling of the right-angled horizontal attitude towing vehicle. The center position between the wheels is turned to the right-angled horizontal posture with respect to the travel route with the center position as the turning center, and then the towing vehicle is swung in the opposite direction around the vertical shaft body with respect to the transport carriage, so that the original towing posture is obtained. Return to It characterized the door, steering control method for a carriage-type conveying apparatus. 前記走行経路は、互いに並列する往行経路部と復行経路部、及び前記往行経路部の終端と前記復行経路部の始端とを接続する直角接続経路部とを備え、往行経路部の終端で搬送台車を直角横向き姿勢に旋回させると共に牽引車を元の牽引姿勢に復帰させた後、当該牽引車の前進走行により、牽引される搬送台車を、前記左右一対の向き固定車輪間の中央位置が前記復行経路上に達する位置まで前記直角接続経路部上を直進させ、この後、往行経路部終端で搬送台車を直角横向き姿勢まで旋回させたときと同一の操向動作を牽引車に実行させて、搬送台車を復行経路部の始端位置で当該復行経路部と平行な姿勢まで旋回させると共に牽引車を元の牽引姿勢に復帰させることを特徴とする、請求項１に記載の台車式搬送装置の操向制御方法。   The travel route includes an outward route portion and a return route portion that are parallel to each other, and a right-angle connection route portion that connects a terminal end of the forward route portion and a start end of the return route portion, At the end of the vehicle, the conveyance carriage is turned to a right-angled horizontal posture and the towing vehicle is returned to the original towing posture, and then the towed carriage is moved between the pair of right and left fixed wheels by the forward traveling of the towing vehicle. Drive straight on the right-angled connection path until the center position reaches the return path, and then pull the same steering operation as when the carriage was turned to a right-angled horizontal posture at the end of the outbound path 2. The vehicle according to claim 1, wherein the vehicle is caused to execute, and the conveyance carriage is turned to a posture parallel to the return path portion at the start position of the return route portion, and the tow vehicle is returned to the original pulling posture. The steering control method of the cart type | formula conveying apparatus of description. 自在車輪から成る前輪と直進向きに固定された左右一対の向き固定車輪から成る後輪を備えた搬送台車と、少なくとも後端側が前記搬送台車の前端部下側に入り込む自走可能な牽引車とから成り、搬送台車の前端部下側とその下側の牽引車とに、互いに上下方向に嵌合する垂直軸体と連結孔とから成る連結手段が設けられた牽引車利用の台車式搬送装置において、牽引車は、直進向きに固定された左右一対の向き固定駆動車輪と、これら向き固定駆動車輪を各別に正逆任意の方向に駆動する左右一対のモーターと、前記左右一対の向き固定駆動車輪より後方に位置する自在車輪を備え、前記連結手段を構成する垂直軸体と連結孔の内の一方は、前記左右一対の駆動車輪間の中央位置において牽引車に設けられ、前記垂直軸体と連結孔の内の他方は、搬送台車に昇降自在に支持された昇降体に設けられ、この昇降体は、この昇降体の真上に位置するように搬送台車に設けられた操作用開口部から、前記連結手段が連結状態となる下降位置と当該連結手段が連結解除状態となる上昇位置との間で昇降操作可能に構成され、牽引車の左右一対の駆動車輪を正逆互いに反対方向に駆動したとき、牽引車のみが、搬送台車に対して少なくとも直角横向き姿勢まで、連結手段の前記垂直軸体の周りに回転出来るように構成され、このときの牽引車の回転軌跡より後方側に搬送台車の前記前輪が配設されている、牽引車利用の台車式搬送装置。 A transport carriage provided with a front wheel made up of a free wheel and a rear wheel made up of a pair of right and left fixed wheels fixed in a straight forward direction, and a self-propelled tow truck with at least the rear end side entering the lower side of the front end of the transport carriage In the trolley-type trolley-type transport device provided with a connecting means composed of a vertical shaft body and a connecting hole that are vertically fitted to each other on the lower side of the front end of the transport trolley and the lower tractor, The tow vehicle is composed of a pair of left and right direction fixed driving wheels fixed in a straight traveling direction, a pair of left and right motors for driving these direction fixed driving wheels in respective forward and reverse directions, and the pair of left and right direction fixed driving wheels. One of the vertical shaft body and the connection hole, which is provided with a free wheel located at the rear, is provided in the towing vehicle at a central position between the pair of left and right drive wheels, and is connected to the vertical shaft body. Other inside the hole Is provided on an elevating body supported so as to be movable up and down by the transport carriage, and the elevating body is connected to the connection means from an operation opening provided in the transport carriage so as to be positioned directly above the elevating body. When the pair of left and right drive wheels of the towing vehicle are driven in the opposite directions, the towing vehicle only can be moved up and down between the lowered position that becomes the state and the raised position where the connection means becomes the disconnected state. Is configured to be able to rotate around the vertical shaft body of the connecting means at least up to a right-and-left lateral orientation with respect to the transport carriage, and the front wheels of the transport carriage are disposed on the rear side of the rotation trajectory of the towing vehicle at this time. A trolley-type transfer device using a tow truck.
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