JP2003146591A - Conveying method for middle weight substance - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily and safely carry out a conveying of an object article to be conveyed, an installation positioning of the article and an installation. SOLUTION: A plurality of conveying vehicles 1 having a support base 300 for supporting the object article to be conveyed and for placing and conveying the object article to be conveyed on the support base 300 is provided. The support base 300 is lifted by an air jack 301. While a traveling speed and an advancement direction of the respective conveying vehicles 1 are synchronously controlled to place and support the object article to be conveyed on the respective support bases 300, a traveling of a plurality of conveying vehicles 1 is carried out while a relative position of the respective support bases 300 is retained constant. When a traveling is carried out on a slant face or the like, an amount of air of the air jack 301 is adjusted by a leveler sensor installed on the object article to be conveyed and a sensor for detecting an air pressure of the air jack 301 provided on the respective conveying vehicles 1 and the respective support bases 300 are horizontally retained at a constant height. An operation is carried out by a remote one.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has an object to provide a conveying apparatus suitable for conveying and installing materials, particularly for conveying and installing medium and heavy materials.

[0002]

2. Description of the Related Art In the transportation and installation work of materials, especially the transportation and installation work of medium and heavy objects, when an overhead crane or the like cannot be used, work is carried out using rollers, wheeled carts, jacks, lifts and the like.

[0003]

The work using these requires a lot of manpower and time and requires additional work, which is extremely complicated. In other words, when the material to be transported is placed on a trolley with wheels or wheels and is pulled to the installation position of the material to be transported by pulling with a rope by an electric or manual winch, a fulcrum such as a pillar for hooking the rope is This is necessary (take a fulcrum), and further, this method can perform only a straight movement in one direction with one fulcrum. Also, when carrying a material to be transported on a trolley with wheels and pulling it with a forklift etc. to move the material to be transported to the installation position, it is difficult to move the material to be accurately adjusted to a predetermined position, and jacks etc. It is necessary to align the positions of the materials to be transported by pushing the materials to be transported, and in addition, for installation, it must be temporarily received by a jack or the like before installation. Furthermore, it is necessary to lay wood or iron plates on the floor surface where the material to be transported moves in order to prevent floor damage due to lateral displacement that occurs when the roller or wheeled trolley changes direction (floor curing). In addition, when the slope is moved, the material to be transported is inclined, and particularly when the material to be transported is a medium-weight object of about 1 to 20 tons, it may fall off during transportation. In order to prevent this point, it is necessary to lift the material to be transported on the slope with a jack once, and put a support between the transportation devices such as a trolley with wheels to keep the material to be transported horizontal. ).

In addition, since there are cases where the equipment is operated under the material to be transported, there is a problem in terms of the safety of the operator. It is an object of the present invention to provide a transfer device that can easily and safely perform the transfer of materials to be transferred, the positioning and installation of the materials, and the installation.

[0005]

Means for Solving the Problems The gist of the present invention for solving the above-mentioned problems is to provide a plurality of supporting bases for supporting a material to be conveyed, the plurality of materials being placed on the supporting base to operate. Of the transport vehicles, elevating means for raising and lowering the support bases of the plurality of transport vehicles, and synchronous control of the operation speed and traveling direction of each of the transport vehicles to place the transport target material on each of the support bases. And a transportation control means for operating the plurality of transportation vehicles while keeping the relative positions of the respective support bases constant while being supported. The gist of the above-mentioned transport device is also provided with a horizontal holding means for holding each of the support bases horizontally at a constant height when the operation is performed on a road surface with slopes, undulations, and undulations. The gist of any of the above-mentioned transporting devices provided with remote control means for performing the operation and the elevating / lowering by remote control.

[0006]

Operation: A plurality of transport vehicles are operated to be positioned between the object to be transported placed on the table on the floor and the floor. After that, the support base of each carrier is lifted to lift the material to be conveyed and supported on each support base. In this state, the operation control means synchronously controls the operation speed and traveling direction of each transport vehicle to operate each transport vehicle while keeping the relative position of each support base constant, and installs the material to be transported. Carry to position. In the case of the above-mentioned configuration in which the transport device is provided with the horizontal holding means, the horizontal holding means keeps each support base horizontally at a constant height when the transport vehicle travels on the slope. In the case of the above-mentioned configuration in which the transfer device is provided with the remote control means, the operation of each transfer vehicle and the lifting and lowering of each support base are performed by remote control.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 3 are views for explaining the structure of a carrier vehicle used in the carrier device according to the first embodiment of the present invention. FIG. 1 is a left side view of such a carrier, FIG. 2 is a bottom view, and FIG. 3 is a rear view. 1 to 3, the carrier 1
Has a truck 2 and a jack portion 3. The carriage 2 is provided with a drive roller 200 and a free roller 201,
Two drive rollers 200 are provided in one transport vehicle 1, and each drive roller 200 has a separate motor 2 with a reduction gear.
Driven by 02, the carrier 1 is operated. The free roller 201 is provided on the carriage 2 so as to be rotatable around a fulcrum shaft 203.

The jack section 3 includes a support base 300, an air jack 301, a hydraulic stopper 302, and a base 303. The support table 300 is a table on which the material to be transported is placed and supported. The support base 300 is supported by an air jack 301 provided on a pedestal 303.
Moves up and down the support base 300. The air jack 301 is a back-type air jack, and causes the support base 301 to move up and down by taking air in and out by an air cylinder and an air pump (not shown). When the hydraulic stopper 302 moves up and down the support base 301 with the air jack 301, when the air jack 301 is damaged or a sudden air leak occurs, it becomes difficult to horizontally hold the material to be transported. Further, by closing the hydraulic circuit (not shown), it is possible to prevent the support base 301 from largely tilting and the material to be conveyed falling off. The pedestal 303 is rotatably supported by the trolley 2 by the fulcrum shaft 204, the air jack 301 is placed on the pedestal 303, and the hydraulic stopper 302 is also supported by the pedestal 303. The fulcrum shaft 204 is rotatably supported. 2 shows the entire jack portion 3, and FIG. 3 shows the air cylinder 302 in a cutaway view.

In the transport vehicle 1 as described above, the two driving rollers 200 are separately driven and controlled by the motor 202 with a speed reducer. Therefore, due to the difference in the number of rotations of the driving rollers 200, straight driving, steering and turning are performed. Perform each operation. That is, when driving straight, both drive rollers 200 are driven at the same number of revolutions.
Further, at the time of steering operation, one of the driving rollers 200 is stopped,
Alternatively, steering is performed by decelerating and driving the other. During the turning operation, both drive rollers are rotationally driven in opposite directions.

The carrier device of this embodiment is equipped with a set of, for example, 3 to 4 carrier vehicles 1 having the above-mentioned structure.
Each of the air jacks 301 of the three to four transport vehicles 1 raises the respective support bases 300 to a uniform height, and the three or four support bases 300 support one material to be transported.

In this way, for example, the speed and direction of each carrier 1 are synchronously controlled while supporting one material to be transported by the carrier 1 composed of 3 to 4 units, and each carrier 300 is controlled. Each carrier 1 operates while keeping the relative position constant. That is, for example, in the case of moving in an arc shape with an arbitrary radius, the jack portion 3 is rotatably supported by the fulcrum shaft 204 even if the trolley 2 on the traveling direction side and the trolley 2 on the rear side differ in direction. The material to be transported is placed on the support base 300, and the jack portion 3 is rotated to move the support base 3
Since there is no change in the relative position between 00 and the material to be transported, the relative position of each support table 300 is also held constant. The speed control of each transport vehicle 1 is controlled by an output pulse of a rotary encoder (not shown) provided at the turning center of each transport vehicle 1, and the speed control between the transport vehicles 1 is controlled by the jack unit 3.
It is controlled by the output of a strain sensor (not shown) provided in the. Since these controls require high-speed responsiveness and flexibility not depending on a program, a known high-speed control system or fuzzy control system is used. The above-described operation of each transport vehicle 1 and the raising and lowering of the support base 300 are performed by remote control by known means.

When one object to be conveyed is supported by, for example, three to four carrier vehicles 1 to operate on a slope, the object to be conveyed is inclined, but regarding this, keep the object to be conveyed horizontal as follows. There is. That is, a leveler sensor (not shown) is installed on the material to be transported, and a sensor (not shown) for detecting the air pressure of the air jack 301 provided on each transport vehicle 1 is provided on each transport vehicle 1 by a known means. And an output signal of a leveler sensor (not shown) detect how much the support base 300 of each carrier 1 needs to be raised and lowered, and thereby adjust the air amount of the air jack 301 of each carrier 1 by an air pump (not shown). Then, the amount of air in the air jack 301 is adjusted by fuzzy control, and the support base 300 is automatically moved up and down so that each support base 3
The height of 00 is controlled to be constant.

When the carrier 1 travels on the slope, not only the height of each support table 300 is kept constant, but also each support table 300 is maintained.
It is also necessary to keep the inclination of the horizontal direction, but regarding this point, since the air jack 301 has a flexible structure,
If 00 is kept at the same height, the weights of the materials to be conveyed cause each of the supports 300 to be tilted in the ascending direction of the slope and automatically kept horizontal.

The jack portion 3 of the transport vehicle 1 can be removed, and the jack portion 3 can be removed from the carriage 3 to have another structure depending on working conditions. FIG. 4 shows an example of the carrier 1 configured as described above, FIG. 4 (a) shows a dolly 2 similar to that of the carrier 1, and FIG. 4 (b) shows such a dolly 2. 1 shows a carrier 1 provided with a high-lift electric jack 4. The horizontal position of the support base 400 during the operation on the slope is maintained by the support portion 402 of the arm 401 supporting the support base 400 sliding in the surface direction of the support base 400.

Next, the procedure for carrying and installing the material to be carried using the carrying device of this embodiment will be described. Figure 5
9A to 9C are diagrams illustrating a procedure for carrying and installing a material to be carried using the carrying device of the present embodiment.

With reference to FIG. 5, the material 5 to be transported is the floor 6
It is placed on the table 7 placed at. The operator operates, for example, three to four transport vehicles 1 by remote control, and moves each transport vehicle 1 into the gap between the material 5 to be transported and the floor surface 6. After that, each support base 300 is raised to a certain height by the air jack 301 by remote control, and the material 5 to be conveyed is supported and lifted. At this time, the position of the center of gravity of the material 5 to be transported differs depending on each material 5 to be transported.
It is necessary to consider the arrangement position of each transport vehicle 1 so that the transport target material 5 does not incline even if the transport target material 5 is supported by each support base 300.

After that, as described above, the speed and direction of each carrier 1 are synchronously controlled to keep the relative positions of the respective support bases 300 constant, and each carrier is supported while supporting the material 5 to be transported. It can be operated and transported to the installation position of the transportation target material 5. At this time, the drive roller 201 of each transport vehicle 1 is caused to move straight, steer, and turn as described above, so that the material 5 to be transported moves straight in an arbitrary direction, turns on the spot, and moves in an arc shape with an arbitrary radius. Can be done. 6 to 8 show such an operation by the carrier vehicle 1. FIG. 6 shows a straight movement in a direction indicated by an arrow in the figure, and FIG. 7 shows an in-situ turning movement in a direction indicated by an arrow in the figure. Reference numeral 8 indicates an arcuate movement at an arbitrary radius in the direction of the arrow in the figure.

Further, when the carrier 1 travels on a slope, a road surface with undulations, or undulations, the material to be transported is automatically kept horizontal as described above. FIG. 9 is a diagram showing a state in which the transport vehicle 1 supporting the transport target material 5 is traveling on a slope. As shown in the figure, the air is released from the air jack 301 of the carrier 1 on the rising side of the slope 8 to lower the support base 300,
The heights of the supports 300 of the carrier 1 on the ascending side and the descending side of the slope are kept horizontal. At this time, since each support table 300 is inclined to the rising side of the slope due to the weight of the material 5 to be transported, each support table 300 is also kept horizontal. As a result, the materials to be transported 5
Is kept horizontal.

In this way, when the material 5 to be transported is transported to the installation position, each transport vehicle 1 is positioned on the platform 7 of FIG. 5 placed in that position in advance and the support platform 300 is lowered. The material 5 to be transported can be installed on the seventh.

According to the transport apparatus of the present embodiment described above, the transport of the material 5 to be transported, the installation positioning of the material, and the installation can be easily performed without complicated operations such as fulcrum picking.

In addition, when carrying on a slope or the like, the material 5 to be carried can be carried without setup change and the like, which also facilitates the carrying work.

Further, it is possible to carry out the transportation of the material 5 to be transported, the installation positioning and the installation of the material by remote operation, and it is not necessary to operate the equipment under the material 5 to be transported, so that the safety of the worker can be achieved.

Next, a second embodiment of the present invention will be described. 10 to 12 are views showing a carrier vehicle 1'used in the carrier device according to the second embodiment. FIG. 10 is a front view of the carrier vehicle 1 ', and FIG. 11 is a sectional view of the carrier vehicle 1'. 12 is a plan view of the carrier 1 '. The members having the same reference numerals as those in FIGS. 1 to 3 are the same members as those in the first embodiment, and the description thereof will be omitted. The following description will focus on the points that the carrier 1'of the present embodiment differs from the carrier 1 of the first embodiment.

The carrier 1'includes a jack portion 3'provided in the carriage 2 '. The jack portion 3'is for moving up and down a support base 302 'provided at the tip of the rod 301' via a rod 301 'by a screw jack 300'. The screw jack 300 'is driven by a geared motor 305'. Also, the stroke of the rod 301 'is determined by the rotary encoder 310'.
Detected in. The support base 302 'is a spherical plain bearing (spherical bush), and the upper end surface of the support base 302' is around the rod 301 '.
It can be tilted in all 60 ° directions.

A pedestal 303 'is rotatably mounted on the carriage 2'via a slide bearing 304'. A hole 306 'through which the support 302' is inserted is formed in the center of the pedestal 303 '. A ring gear 307 'is formed around the hole 306', meshes with a pinion gear 308 'provided on the truck 2', and the ring gear 308 'is engaged.
The axis of'is connected to the rotary encoder 309 ',
The rotation angle of the pedestal 303 'is determined by the rotary encoder 3
09 'is detected.

An electromagnetic brake (not shown) is provided below the rotary encoder 309 ', and the pedestal 303 is provided.
It is possible to prevent the rotation of the ‘′ with respect to the carriage 2 ′. The drive roller 200 and the free roller 201 are mounted by a known mechanism such as a suspension mechanism and other shock absorbing means (not shown) so as not to give a strong shock to the material to be conveyed even when traveling on an uneven road surface. I have to.

Also in the transport apparatus of this embodiment, the transport vehicle 1
3'is provided as one set, and various attachments are provided on the carriage 2'and used. Next, an example of these attachments will be described. FIG.
FIG. 6 is a diagram illustrating a case where a connecting frame is used as an example of such an attachment. This connecting frame 9 is, for example, four carriages 1 which form a set of conveyors.
We use four for '. The connection frame 9 connects and fixes the bases 303 'of the transport vehicles 1'. In order to support the material 5 to be transported, each of the support bases 302 'is moved up and down by the screw jack 300' to support one material 5 to be transported. FIG. 13 is a plan view showing a state in which the materials to be transported are supported by the four transport vehicles 1'in this manner.

In this way, the relative position of each pedestal 303 'is fixed by controlling the speed and direction in synchronization while supporting one material 5 to be transported by the transportation vehicle 1'composed of, for example, 3 to 4 vehicles. Each carrier vehicle 1 ′ operates while being held at. That is, for example, when moving in an arc shape with an arbitrary radius,
Even if the trolley 2 on the traveling direction side and the trolley 2 on the rear side differ in direction, the support base 302 'is rotatably supported with respect to the trolley 2', while the pedestal 303 'is fixedly connected by the connecting frame 9. , The relative position of the support table 302 ′ is unchanged, and therefore the material 5 to be conveyed does not fall off. The rotation angle of the pedestal 303 ′ is detected by the rotary encoder 309 ′ and Based on this, the speed control of each of the carrier vehicles 1'is performed. The speed control between the transport vehicles 1'is controlled by the output of a strain sensor (not shown). Since these controls require high-speed responsiveness and flexibility not depending on a program, a known high-speed control system or fuzzy control system is used.
The operation of each transport vehicle 1'and the raising and lowering of the support base 302 'are performed remotely by a known means as in the first embodiment.

When one transportation target material 5 is supported on, for example, three to four transportation vehicles 1'for traveling on a slope, the transportation target material 5 is inclined. It remains horizontal. That is, the material to be transported 5
It is necessary to install a leveler sensor (not shown) on the above, and to what extent the support base 302 ′ of each carrier 1 ′ needs to be moved up and down by the output signal of this leveler sensor and the output signal of the rotary encoder 310 ′ that detects the stroke of the rod 301 ′. It is detected and the screw jack 300 ′ of each carrier 1 ′ is driven by this, and the support base 302 ′ is automatically moved up and down by fuzzy control or the like so that the height of each attachment (not shown) is always constant. Controlled by.

When the carrier 1'operates on a slope, it is necessary not only to keep the height of the support 302 'constant but also to keep the inclination horizontal. In this respect, the support 302' is spherically slid. It is a bearing (spherical bush), and its upper end surface can be tilted in all directions of 360 ° around the rod 301 '. Therefore, if each attachment is kept at the same height, the weight of the object to be transported will cause each support stand to move. 302 'is automatically kept horizontal by inclining in the ascending direction of the slope.

Regarding the procedure for carrying and installing the material to be carried using the carrying device of the present embodiment, the air jack 301 of the first embodiment and the screw jack 30 of the present embodiment are used.
Instead of 0 ', the support base 300 is replaced by the support base 302' of this embodiment.
Instead of the first one already described with reference to FIGS.
The procedure for carrying and installing the material to be carried using the carrying device of the embodiment is the same as that of the procedure, and the description thereof will be omitted.

The connecting frame 9 may have various shapes other than the shape shown in FIG. 13 according to the size and shape of the material 5 to be conveyed. In addition, when there is no need to be nervous about the inclination of the material 5 to be transported (such as when there is no steep slope during operation or when the center of gravity of the material 5 to be transported is low), the support base 302 ′ is lowered, It is also possible to directly support the material 5 to be transported by the pedestal 303 'and transport it. In this case, the material 5 to be transported and the pedestal 3
If 03 'is fixed, the connecting frame 9 becomes unnecessary.
FIG. 14 shows a second example of the attachment of this embodiment, and is a perspective view of the boat pedestal 10 as the second example. The boat pedestal 10 is used when the boat is transported by the transport device of this embodiment, and is used together with the connecting frame 9 described above. That is, as described above, the material to be directly transported (boat in this case) on the support base 302 '.
Instead of supporting the boat pedestal 10,
This is an attachment that is fixed on 02 ′ as shown in FIG. 14 and that supports and transports a boat (not shown) by the boat pedestal 10. Also in this case, when it is not necessary to be nervous about the inclination of the boat (not shown) during transportation, the support base 302 ′ is lowered and the boat pedestal 10 is fixed to the pedestal 3.
It is also possible to fix it to 03 'and omit the connecting frame 9.

Next, the operation of this embodiment will be described.
According to the carrying apparatus of this embodiment, similarly to the first embodiment, the carrying of the material 5 to be carried, the positioning of the material, and the installation can be easily carried out without complicated operations such as fulcrum picking. In addition, when carrying on a slope or the like, it is possible to carry the material 5 to be carried without changeover and the like, which also facilitates the carrying work. Furthermore, by remote operation, it is possible to carry the material 5 to be transported, install and position the material, and install.
It is not necessary to operate the equipment under the material 5 to be transported, and the safety of the operator can be achieved.

When the carrier vehicle 1'turns or travels straight, the rotation angle of the pedestal 303 'with respect to the vehicle 2'should be kept constant, but if this is to be maintained only by controlling the rotational speeds of the two drive rollers 200, then the Since the rotation speed of the drive roller 200 and the rotation angle between the pedestal 303 ′ and the trolley 2 ′ are constantly detected and the speed of the drive roller 200 needs to be controlled while performing high-speed arithmetic processing, As the number of input / output points increases, multiple vehicles 1'are operated in synchronization with each other. Therefore, unless very high-speed processing and control are performed, the vehicle will meander or move in the operating direction of each vehicle 1 '. Due to non-uniformity, the carrier 1'may come off and the material to be transported may drop.

Therefore, in this embodiment, an electromagnetic brake (not shown) is provided below the rotary encoder 309 'to stop the rotation of the pedestal 303' with respect to the trolley 2 ', so that the set rotation angle is set during turning and straight traveling. By stopping the rotation of the pedestal 303 ′ with respect to the trolley 2 ′, the angle between the pedestal 303 ′ and the trolley 2 ′ leans against a constant angle, so that the detection of the rotation speed of the drive roller 200 can be omitted (open loop control). It is also possible to deal with). Further, it is not necessary to constantly detect the rotation angle during the straight traveling or turning operation, the number of control input / output points can be reduced, and the processing speed can be relatively low, so that each transport vehicle 2 can be operated with a relatively simple control device. It is possible to perform synchronized operation between ´.

Further, in this embodiment, it is not necessary to provide the large air jack 301 on the carriage 2 as in the first embodiment, so that the center of gravity of the carrier 2'can be lowered.
The safety of operation can be improved. Moreover, the screw jack 300 ′ is installed in the trolley 2 instead of the structure in which the large air jack 301 is mounted on the trolley 2 separately from the trolley 2 as in the first embodiment. As described above, the attachment (not shown) does not easily shake against horizontal overload, which enables stable operation.

[0037]

According to the above-described transporting apparatus of the present invention, it is possible to easily transport a material to be transported, install and position the material, and perform installation without complicated operations such as fulcrum picking. Further, when the above-mentioned horizontal holding means is provided, the object to be transferred can be transferred without changing the set-up even when transferring on a slope or the like, and the transfer operation is facilitated also in this respect.

Further, in the case where the above-mentioned remote operation means is provided, it is possible to carry out the transportation of the material to be transported, the positioning of the material to be installed and the installation by remote control, and it is not necessary to operate the equipment under the material to be transported. Worker safety is achieved.

[Brief description of drawings]

FIG. 1 is a left side view of a carrier vehicle of a carrier device according to a first embodiment of the present invention.

FIG. 2 is a bottom view of the carrier vehicle of the carrier device according to the first embodiment of the present invention.

FIG. 3 is a rear view of the carrier vehicle of the carrier device according to the first embodiment of the present invention.

4A and 4B are diagrams showing a case where a high-lift electric jack is provided in a carrier vehicle used in the first embodiment of the present invention, FIG. 4A is a left side view of the carrier vehicle, and FIG. It is a figure which shows a trolley | bogie part.

FIG. 5 is a diagram illustrating a procedure for carrying a material to be carried by the carrying device according to the first embodiment of the present invention.

FIG. 6 is a diagram for explaining an operation when a transport target material is transported by the transport device according to the first embodiment of the present invention.

FIG. 7 is a diagram for explaining the operation when the object to be conveyed is conveyed by the conveying device according to the first embodiment of the present invention.

FIG. 8 is a diagram for explaining an operation when a transport target material is transported by the transport device according to the first embodiment of the present invention.

FIG. 9 is a diagram for explaining an operation when the object to be transferred is transferred by the transfer device according to the first embodiment of the present invention.

FIG. 10 is a front view of a carrier vehicle of the carrier device according to the second embodiment of the present invention.

FIG. 11 is a sectional view of a carrier vehicle of a carrier device according to a second embodiment of the present invention.

FIG. 12 is a plan view of a carrier vehicle of a carrier device according to a second embodiment of the present invention.

FIG. 13 is a plan view of a plurality of transport vehicles connected by a connecting frame used in the transport apparatus according to the second embodiment of the present invention.

FIG. 14 is a perspective view of a boat pedestal used in a carrier device according to a second embodiment of the present invention.

[Explanation of symbols]

1, 1 ': carrier vehicle, 2: dolly, 204: fulcrum axis, 30
0: support base, 301: air jack, 302 ': support base, 303': pedestal, 305 ': screw jack

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[Procedure amendment]

[Submission date] July 17, 2002 (2002.7.1)
7)

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction content]

[Document name] Statement

[Title of Invention] Method of transporting medium-weight goods

[Claims]

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has an object to provide a method for transporting and installing materials, and particularly a method for transporting medium and heavy materials, which is suitable for transporting and installing medium and heavy materials.

[0002]

2. Description of the Related Art In the transportation and installation work of materials, especially the transportation and installation work of medium and heavy objects, when an overhead crane or the like cannot be used, work is carried out using rollers, wheeled carts, jacks, lifts and the like.

[0003]

The work using these requires a lot of manpower and time and requires additional work, which is extremely complicated. In other words, when the material to be transported is placed on a trolley with wheels or wheels and is pulled to the installation position of the material to be transported by pulling with a rope by an electric or manual winch, a fulcrum such as a pillar for hooking the rope is This is necessary (take a fulcrum), and further, this method can perform only a straight movement in one direction with one fulcrum. Also, when carrying a material to be transported on a trolley with wheels and pulling it with a forklift etc. to move the material to be transported to the installation position, it is difficult to move the material to be accurately adjusted to a predetermined position, and jacks etc. It is necessary to align the positions of the materials to be transported by pushing the materials to be transported, and in addition, for installation, it must be temporarily received by a jack or the like before installation. Furthermore, it is necessary to lay wood or iron plates on the floor surface where the material to be transported moves in order to prevent floor damage due to lateral displacement that occurs when the roller or wheeled trolley changes direction (floor curing). In addition, when the slope is moved, the material to be transported is inclined, and particularly when the material to be transported is a medium-weight object of about 1 to 20 tons, it may fall off during transportation. In order to prevent this point, it is necessary to lift the material to be transported on the slope with a jack once, and put a support between the transportation devices such as a trolley with wheels to keep the material to be transported horizontal. ).

In addition, since there are cases where the equipment is operated under the material to be transported, there is a problem in terms of the safety of the operator. An object of the present invention is to provide a method for transporting a medium-weight object that can easily and safely transport a material to be transported, install and position the material, and install the material.

[0005]

A method of transporting a medium-weight object according to the present invention, which meets the above-mentioned object, is a method of transporting an object to be transported, which is a medium-weight object, using a plurality of transport vehicles. The transport vehicle includes a trolley having two drive rollers and a free roller, which are separately driven by a motor with a speed reducer, a pedestal rotatably supported by the trolley, and a jack mounted on the pedestal. And a support base supported by the jack, and the transfer target material is placed on the support bases of the plurality of transport vehicles, and the relative positions of the support bases on which the transfer target material is placed are fixed. While maintaining the above, the speed and direction of travel of each of the transport vehicles are controlled to operate the plurality of transport vehicles. Here, in the method for transporting medium-weight goods according to the present invention, when the operation of the plurality of transport vehicles is performed on slopes, undulations, and undulating road surfaces, the jacks are moved up and down so that each of the support bases has a constant height. It may be held horizontally and transported. In addition, in the method for transporting a medium-weight object according to the present invention, the operation and the raising / lowering can be performed by remote control.

[0006]

Operation: A plurality of transport vehicles are operated to be positioned between the object to be transported placed on the table on the floor and the floor. After that, the support base of each carrier is lifted to lift the material to be conveyed and supported on each support base. In this state, the operation control means synchronously controls the operation speed and traveling direction of each transport vehicle to operate each transport vehicle while keeping the relative position of each support base constant, and installs the material to be transported. Carry to position. Further, in the case of the above-described configuration in which the transport device is provided with the horizontal holding means, the horizontal holding means keeps each support base horizontally at a constant height when the transport vehicle travels on the slope. In the case of the above-mentioned configuration in which the transfer device is provided with the remote control means, the operation of each transfer vehicle and the lifting and lowering of each support base are performed by remote control.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 3 are views for explaining the structure of a carrier vehicle used in a method for carrying medium-weight objects according to a first embodiment of the present invention. FIG. 1 is a left side view of such a carrier, FIG. 2 is a bottom view, and FIG. 3 is a rear view. Referring to FIGS. 1 to 3, the carrier vehicle 1 includes a carriage 2 and a jack portion 3. The carriage 2 has a drive roller 200 and a free roller 201.
And two drive rollers 200 are provided for one transport vehicle 1, and each drive roller 200 is driven by a separate motor 202 with a speed reducer to drive the transport vehicle 1. The free roller 201 is provided on the carriage 2 so as to be rotatable around a fulcrum shaft 203.

The jack section 3 includes a support base 300, an air jack 301, a hydraulic stopper 302, and a base 303. The support table 300 is a table for placing and supporting a material to be transported, which is a medium weight object. Support base 300 is base 3
03 is supported on the air jack 301, and the air jack 301 moves up and down the support base 300. The air jack 301 is a back type air jack, and causes the support base 300 to move up and down by taking in and out air inside by an air cylinder and an air pump (not shown). The hydraulic stopper 302 allows the air jack 301 to move up and down the support base 300.
When it becomes difficult to hold the material to be conveyed horizontally due to damage to the object or a sudden air leak, the hydraulic circuit (not shown) is closed, and the support table 300 is largely tilted so that the object to be conveyed is Prevents slipping. The pedestal 303 is rotatably supported by the trolley 2 by the fulcrum shaft 204, the air jack 301 is placed on the pedestal 303, and the hydraulic stopper 302 is also supported by the pedestal 303. The fulcrum shaft 204 is rotatably supported. 2 shows the entire jack portion 3, and FIG. 3 shows the hydraulic stopper 302 cut away.

In the transport vehicle 1 as described above, the two driving rollers 200 are separately driven and controlled by the motor 202 with a speed reducer. Therefore, due to the difference in the number of rotations of the driving rollers 200, straight driving, steering and turning are performed. Perform each operation. That is, when driving straight, both drive rollers 200 are driven at the same number of revolutions.
Further, at the time of steering operation, one of the driving rollers 200 is stopped,
Alternatively, steering is performed by decelerating and driving the other. During the turning operation, both drive rollers are rotationally driven in opposite directions.

The method for transporting medium- and heavy-weight objects of this embodiment is provided with, for example, a set of three to four transport vehicles 1 having the above-described configuration, and the air of each of the three to four transport vehicles 1 is set. The jacks 301 raise the respective support bases 300 to a uniform height, and the three or four support bases 300 support one material to be conveyed.

In this way, for example, the speed and direction of each carrier 1 are synchronously controlled while supporting one material to be transported by the carrier 1 composed of 3 to 4 units, and each carrier 300 is controlled. Each carrier 1 operates while keeping the relative position constant. That is, for example, in the case of moving in an arc shape with an arbitrary radius, the jack portion 3 is rotatably supported by the fulcrum shaft 204 even if the trolley 2 on the traveling direction side and the trolley 2 on the rear side differ in direction. The material to be transported is placed on the support base 300, and the jack portion 3 is rotated to move the support base 3
Since there is no change in the relative position between 00 and the material to be transported, the relative position of each support table 300 is also held constant. The speed control of each transport vehicle 1 is controlled by an output pulse of a rotary encoder (not shown) provided at the turning center of each transport vehicle 1, and the speed control between the transport vehicles 1 is controlled by the jack unit 3.
It is controlled by the output of a strain sensor (not shown) provided in the. Since these controls require high-speed responsiveness and flexibility not depending on a program, a known high-speed control system or fuzzy control system is used. The above-described operation of each transport vehicle 1 and the raising and lowering of the support base 300 are performed by remote control by known means.

When one object to be conveyed is supported by, for example, three to four carrier vehicles 1 to operate on a slope, the object to be conveyed is inclined, but regarding this, keep the object to be conveyed horizontal as follows. There is. That is, a leveler sensor (not shown) is installed on the material to be transported, and a sensor (not shown) for detecting the air pressure of the air jack 301 provided on each transport vehicle 1 is provided on each transport vehicle 1 by a known means. And an output signal of a leveler sensor (not shown) detect how much the support base 300 of each carrier 1 needs to be raised and lowered, and thereby adjust the air amount of the air jack 301 of each carrier 1 by an air pump (not shown). Then, the amount of air in the air jack 301 is adjusted by fuzzy control, and the support base 300 is automatically moved up and down so that each support base 3
The height of 00 is controlled to be constant.

When the carrier 1 travels on the slope, not only the height of each support table 300 is kept constant, but also each support table 300 is maintained.
It is also necessary to keep the inclination of the horizontal direction, but regarding this point, since the air jack 301 has a flexible structure,
If 00 is kept at the same height, the weights of the materials to be conveyed cause each of the supports 300 to be tilted in the ascending direction of the slope and automatically kept horizontal.

The jack portion 3 of the transport vehicle 1 can be removed, and the jack portion 3 can be removed from the carriage 2 to have another structure depending on working conditions. FIG. 4 shows an example of the carrier 1 configured as described above, FIG. 4 (b) shows a carriage 2 similar to that of the carrier 1, and FIG. 4 (a) shows such a carriage 2. 1 shows a carrier 1 provided with a high-lift electric jack 4. The horizontal position of the support base 400 during the operation on the slope is maintained by the support portion 402 of the arm 401 supporting the support base 400 sliding in the surface direction of the support base 400.

Next, a procedure for carrying and installing the material to be carried using the above-mentioned carrying device will be described. FIG. 5 to FIG. 9 are views for explaining the procedure of carrying and installing the material to be carried using the carrying device.

With reference to FIG. 5, the material 5 to be transported is the floor 6
It is placed on the table 7 placed at. The operator operates, for example, three to four transport vehicles 1 by remote control, and moves each transport vehicle 1 into the gap between the material 5 to be transported and the floor surface 6. After that, each support base 300 is raised to a certain height by the air jack 301 by remote control, and the material 5 to be conveyed is supported and lifted. At this time, the position of the center of gravity of the material 5 to be transported differs depending on each material 5 to be transported.
It is necessary to consider the arrangement position of each transport vehicle 1 so that the transport target material 5 does not incline even if the transport target material 5 is supported by each support base 300.

After that, as described above, the speed and direction of each carrier 1 are synchronously controlled to keep the relative positions of the respective support bases 300 constant, and each carrier is supported while supporting the material 5 to be transported. It can be operated and transported to the installation position of the transportation target material 5. At this time, the driving roller 200 of each transport vehicle 1 is caused to move straight, steer, and turn as described above, so that the transport target material 5 moves straight in any direction, turns on the spot, and moves in an arc shape with an arbitrary radius. Can be done. 6 to 8 show such an operation by the carrier vehicle 1. FIG. 6 shows a straight movement in a direction indicated by an arrow in the figure, and FIG. 7 shows an in-situ turning movement in a direction indicated by an arrow in the figure. Reference numeral 8 indicates an arcuate movement at an arbitrary radius in the direction of the arrow in the figure.

Further, when the carrier 1 travels on a slope, a road surface with undulations, or undulations, the material to be transported is automatically kept horizontal as described above. FIG. 9 is a diagram showing a state in which the transport vehicle 1 supporting the transport target material 5 is traveling on a slope. As shown in the figure, the air is released from the air jack 301 of the carrier 1 on the rising side of the slope 8 to lower the support base 300,
The heights of the supports 300 of the carrier 1 on the ascending side and the descending side of the slope are kept horizontal. At this time, since each support table 300 is inclined to the rising side of the slope due to the weight of the material 5 to be transported, each support table 300 is also kept horizontal. As a result, the materials to be transported 5
Is kept horizontal.

In this way, when the material 5 to be transported is transported to the installation position, each transport vehicle 1 is positioned on the platform 7 of FIG. 5 placed in that position in advance and the support platform 300 is lowered. The material 5 to be transported can be installed on the table 7.

According to the method of transporting the medium-weight object described above, the transport of the material 5 to be transported, the positioning of the material, and the installation can be easily performed without complicated operations such as fulcrum picking. .

In addition, when carrying on a slope or the like, the material 5 to be carried can be carried without setup change and the like, which also facilitates the carrying work.

Further, it is possible to carry out the transportation of the material 5 to be transported, the installation positioning and the installation of the material by remote operation, and it is not necessary to operate the equipment under the material 5 to be transported, so that the safety of the worker can be achieved.

Next, a second embodiment of the present invention will be described. 10 to 12 are views showing a carrier 1'used in a carrying method to which the method for carrying medium and heavy objects according to the second embodiment is applied. FIG. 10 is a front view of the carrier 1 ', FIG. 11 is a sectional view of the carrier vehicle 1 ', and FIG. 12 is a plan view of the carrier vehicle 1'. The members having the same reference numerals as those in FIGS. 1 to 3 are the same members as those in the first embodiment, and the description thereof will be omitted. The following description focuses on the points that the carrier 1'of the present embodiment differs from the carrier 1 of the first embodiment.

The carrier vehicle 1'includes a jack portion 3'provided in the carriage 2 '. The jack portion 3'moves up and down a support base 302 'provided at the tip of the rod 301' via a rod 301 'by a screw jack 300'. The screw jack 300 'is driven by a geared motor 305'. Also, the stroke of the rod 301 'is determined by the rotary encoder 310'.
Detected in. The support base 302 'is a spherical plain bearing (spherical bush), and the upper end surface of the support base 302' is around the rod 301 '.
It can be tilted in all 60 ° directions.

A pedestal 303 'is rotatably mounted on the carriage 2'via a slide bearing 304'. A hole 306 'through which the support 302' is inserted is formed in the center of the pedestal 303 '. A ring gear 307 'is formed around the hole 306' and meshes with a pinion gear 308 'provided on the carriage 2', and the pinion gear 30 'is engaged.
The shaft 8'is connected to a rotary encoder 309 ', and the rotation angle of the pedestal 303' is detected by the rotary encoder 309 '.

An electromagnetic brake (not shown) is provided below the rotary encoder 309 ', and the pedestal 30 is provided.
The rotation of 3'with respect to the carriage 2'can be suppressed.
To attach the drive roller 200 and the free roller 201,
A suspension mechanism and other shock absorbing means (not shown) are provided by known means so as not to give a strong shock to the material to be conveyed even when traveling on an uneven road surface.

Also in this transfer device, a set of, for example, 3 to 4 transfer vehicles 1'is provided, and various attachments are provided on the transfer vehicle 2'for use. Next, an example of these attachments will be described. FIG. 13 is a diagram illustrating a case where a connecting frame is used as an example of such an attachment. For example, four connecting frames 9 are used for a carrier vehicle 1'which makes up a set of four carrier devices. This connecting frame 9 is used for each pedestal 3 of each carrier 1 '.
03 'is connected and fixed. The material 5 to be conveyed is supported by a screw jack 300 'on each supporting base 302'.
Is lifted to support one material 5 to be transported. FIG. 13 is a plan view showing a state in which the materials to be transported are supported by the four transport vehicles 1'as described above.

In this way, the relative position of each pedestal 303 'is fixed by controlling the speed and direction in synchronization while supporting one material 5 to be transported by the transport vehicle 1'composed of, for example, 3 to 4 vehicles. Each carrier vehicle 1'runs while being held at. That is, for example, when moving in an arc shape with an arbitrary radius,
Even if the trolleys 2 ′ on the traveling direction side and the trolley 2 ′ on the rear side have different orientations, the support pedestal 302 ′ is rotatably supported with respect to the trolley 2 ′, while the pedestal 303 is fixedly connected by the connecting frame 9. Since the relative position of ′ is unchanged and the relative position of the support base 302 ′ is also unchanged, the material 5 to be conveyed does not fall off, and the rotation angle of the pedestal 303 ′ is detected by this rotary encoder 309 ′ and this output pulse Based on the above, the speed control of each transport vehicle 1'is performed independently. The speed control between the transport vehicles 1'is controlled by the output of a strain sensor (not shown). Since these controls require high-speed responsiveness and flexibility not depending on a program, a known high-speed control system or fuzzy control system is used. The operation of each transport vehicle 1'and the raising and lowering of the support base 302 'are performed by remote control by a known means as in the first embodiment.

When one transportation target material 5 is supported on, for example, three to four transportation vehicles 1'for traveling on a slope, the transportation target material 5 is inclined, but this is as follows. It remains horizontal. That is, the material to be transported 5
It is necessary to install a leveler sensor (not shown) on the upper side, and to what extent the support base 302 'of each transport vehicle 1'can be moved up and down by the output signal of this leveler sensor and the output signal of the rotary encoder 310' which detects the stroke of the rod 301 '. It is detected whether or not there is any, and the screw jack 300 ′ of each carrier 1 ′ is driven by this, and the support base 302 ′ is automatically moved up and down by fuzzy control or the like to keep the height of each attachment not shown constant. Controlled as.

When the carrier 1'operates on a slope, it is necessary not only to keep the height of the support 302 'constant but also to keep the inclination horizontal. In this respect, the support 302' is spherically slid. Since it is a bearing (spherical bush) and its upper end surface can be tilted in all directions of 360 ° around the rod 301 ', if each attachment is kept at the same height, the weight of the material to be transported will cause the weight of each support to be different. 302 'is tilted in the ascending direction of the slope and automatically kept horizontal.

Regarding the procedure for carrying and installing the material to be carried using this carrying device, the air jack 301 of the first embodiment is replaced with the screw jack 300 'of this embodiment.
Instead of the support base 300 by the support base 302 'of this embodiment, the transfer device used in the method for transferring medium-weight objects according to the first embodiment already described with reference to FIGS. The procedure is the same as the procedure for transporting and installing the material to be transported, and the description thereof will be omitted.

The connecting frame 9 may have various shapes other than the shape shown in FIG. 13 according to the size and shape of the material 5 to be conveyed. Further, when the inclination of the material 5 to be conveyed does not need to be nervous (such as when there is no steep slope in the course of operation or the center of gravity of the material 5 to be conveyed is low), the support base 302 ′ is lowered. It is also possible to directly support the material 5 to be transported by the pedestal 303 'and transport it. In this case, the material 5 to be transported and the pedestal 3
If 03 'is fixed, the connecting frame 9 becomes unnecessary.
FIG. 14 shows a second example of the attachment of this embodiment, and is a perspective view of the boat pedestal 10 as the second example. The boat pedestal 10 is used when the boat is transported by the transport device used in this embodiment.
Used together with the connecting frame 9 described above. That is, instead of directly supporting the material to be transported (the boat in this case) on the support base 302 'as described above, the boat pedestal 10 is fixed on each support base 302' as shown in FIG. It is an attachment for supporting and transporting a boat (not shown) on the pedestal 10. Also in this case, when it is not necessary to be nervous about the inclination of the boat (not shown) during transportation, the support base 302 'may be lowered, the boat base 10 may be fixed to the base 303', and the connecting frame 9 may be omitted. it can.

Next, the operation of this embodiment will be described.
According to the transfer device to which the present embodiment is applied, the transfer of the object 5 to be transferred, the installation and positioning of the material, as in the first embodiment,
It can be easily installed without complicated work such as fulcrum picking. In addition, when carrying on a slope or the like, it is possible to carry the material 5 to be carried without changeover and the like, which also facilitates the carrying work. Further, the transportation of the material 5 to be transported, the installation and positioning of the material 5 and the installation can be performed by remote operation, and it is not necessary to operate the equipment under the material 5 to be transported, and the safety of the worker can be achieved.

It is necessary to keep the rotation angle of the pedestal 303 'with respect to the trolley 2'constant when the transport vehicle 1'turns or travels straight. Since it is necessary to constantly detect the rotation speed of the drive roller 200 and the rotation angle between the pedestal 303 'and the trolley 2'and perform high-speed arithmetic processing to control the speed of the drive roller 200, the control is performed. As the number of input / output points increases, a plurality of guided vehicles 1'are operated in synchronization with each other. Therefore, unless very fast processing and control are performed, the vehicle will meander or move in the operating direction of each guided vehicle 1 '. Due to non-uniformity, the carrier 1'may come off and the material to be transported may drop.

Therefore, in this embodiment, an electromagnetic brake (not shown) is provided below the rotary encoder 309 'to stop the rotation of the pedestal 303' with respect to the trolley 2 '. By stopping the rotation of the pedestal 303 'with respect to the trolley 2', the angle between the pedestal 303 'and the trolley 2'is kept constant, so that the detection of the rotation speed of the drive roller 200 can be omitted (open loop). It is also possible to respond by control). Further, it is not necessary to constantly detect the rotation angle during the straight traveling or turning operation, the number of control input / output points can be reduced, and the processing speed can be relatively low, so that each transport vehicle 1 can be controlled by a relatively simple control device. It is possible to perform synchronized operation between ′.

Further, in this embodiment, it is not necessary to provide the large air jack 301 on the carriage 2 as in the first embodiment, so that the center of gravity of the carrier 1'can be lowered,
The safety of operation can be improved. Moreover, since the large air jack 301 is not mounted on the carriage 2 separately from the carriage 2 as in the first embodiment, the screw jack 300 'is installed in the carriage 2', so that the air jack 301 is installed. As described above, the attachment (not shown) does not easily move due to horizontal overload, and stable operation is possible.

[0037]

According to the above-described transporting apparatus to which the present invention is applied, it is possible to easily transport a material to be transported, install and position the material, and perform installation without complicated operations such as fulcrum picking. Further, when the above-mentioned horizontal holding means is provided, the object to be transferred can be transferred without changing the set-up even when transferring on a slope or the like, and the transfer operation is facilitated also in this respect.

Furthermore, in the case where the above remote control means is provided, it is possible to carry out the transportation of the material to be transported, the installation positioning and the installation of the material by remote control, and it is not necessary to operate the equipment under the material to be transported. Worker safety is achieved.

[Brief description of drawings]

FIG. 1 is a left side view of a carrier vehicle of a carrier device to which a method for carrying medium-weight objects according to a first embodiment of the present invention is applied.

FIG. 2 is a bottom view of a carrier vehicle of the carrier device.

FIG. 3 is a rear view of a carrier vehicle of the carrier device.

4A and 4B are diagrams showing a case where a high-lift electric jack is provided in a carrier vehicle used in the first embodiment of the present invention, FIG. 4A is a left side view of the carrier vehicle, and FIG. It is a figure which shows a trolley | bogie part.

FIG. 5 is a diagram illustrating a procedure for carrying a material to be carried by the carrying device.

FIG. 6 is a diagram illustrating an operation when a material to be transported is transported by the transport device.

FIG. 7 is a diagram illustrating an operation when a material to be transported is transported by the transport device.

FIG. 8 is a diagram illustrating an operation when a material to be transported is transported by the transport device.

FIG. 9 is a view for explaining the operation when the material to be transported is transported by the transport device.

FIG. 10 is a front view of a carrier vehicle of a carrier device to which a method for carrying medium-weight objects according to a second embodiment of the present invention is applied.

FIG. 11 is a cross-sectional view of a carrier vehicle of the carrier device.

FIG. 12 is a plan view of a carrier vehicle of the carrier device.

FIG. 13 is a plan view of a plurality of transport vehicles coupled by a connecting frame used in the transport device.

FIG. 14 is a perspective view of a boat pedestal used in the transfer device.

[Explanation of Codes] 1, 1 ': Transport vehicle, 2 2': Cart, 3 3 ': Jack part, 4: High-lift electric jack, 5: Material to be transported,
6: floor, 7: stand, 8: slope, 9: connecting frame, 1
0: Boat pedestal, 200: Drive roller, 201: Free roller, 202: Motor with reduction gear, 203: Support shaft, 204: Support shaft, 300: Support base, 300 ': Screw jack, 301: Air jack, 301 ′:
Rod, 302: hydraulic stopper, 302 ': support base, 3
03, 303 ': Pedestal, 304': Slide bearing, 30
5 ': Geared motor, 306': Hole, 307 ': Ring gear, 308': Pinion gear, 309 ': Rotary encoder, 310': Rotary encoder, 40
0: support base, 401: arm, 402: support part

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Tomokazu Nakamura             1-8-9 Nishi-Otani, Tobata-ku, Kitakyushu City, Fukuoka Prefecture             issue

Claims (3)

[Claims] 1. A plurality of transport vehicles which have a support base for supporting the transport target materials and operate by placing the transport target materials on the support base, and lifting and lowering the support bases of the plurality of transport vehicles. Means for controlling the traveling speed and traveling direction of each of the transport vehicles to hold the relative position of each of the support bases constant while mounting and supporting the material to be transported on each of the support bases. At the same time, a carrier device comprising an operation control means for causing the plurality of carrier vehicles to operate. 2. The transfer device according to claim 1, further comprising horizontal holding means for holding each of the supports horizontally at a constant height when the operation is performed on a road surface having a slope, ups and downs, and undulations. 3. The carrier device according to claim 1, further comprising a remote control means for remotely controlling the operation and the lifting.