JP2006224803A - Conveyor vehicle, and conveyor vehicle traveling method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a conveyor vehicle and a conveyor vehicle traveling method capable of suppressing deviation of the traveling locus of a tractor and each conveyor truck in the conveyor vehicle to tract a plurality of conveying trucks. <P>SOLUTION: An arm 31 for traction to be connected to a traction arm 32 provided on a rear part of a tractor 10 is provided on a front part of a conveyor truck 20a, and an arm 31 for traction to be connected to a traction arm 46 provided on a rear part of a conveyor truck 20 is provided on a front part of a conveyor truck 20b. Turn of front wheels 22, 23 and rear wheels 26, 27 is stopped when the angle between the traction direction and the traveling direction is below a predetermined value. When the angle is not less than the predetermined value, the front wheels 22, 23 are turned in the traction direction, and the rear wheels 26, 27 are turned in the direction opposite to the turning direction of the front wheels 22, 23. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a transport vehicle, and more particularly to a transport vehicle that pulls a transport carriage by a towing vehicle and a traveling method of the transport vehicle.

  For example, in manufacturing factories and the like, a transport vehicle that pulls a plurality of transport carts by a tow truck is widely used for transporting parts and the like.

  In this type of transport vehicle, when the tow vehicle changes the direction from straight travel to turning while the tow vehicle is traveling on the transport route by towing a plurality of transport carts, the front wheel of each subsequent transport cart is turned. There are things that change the direction of each carriage.

  However, there is an inner ring difference between the front wheel and the rear wheel of each transport cart, and the rear transport cart has a smaller radius of rotation, causing a large deviation between the trajectory of the towing vehicle and the trajectory of each transport cart. Smooth travel of the transport vehicle may be hindered.

  As countermeasures, each transport carriage includes a towed arm that is rotatable in the towing direction and a link mechanism that turns the rear wheel in a direction opposite to the direction of the front wheel. The front wheel is connected to a traction arm fixed to the rear part of the transport vehicle, and the rear wheel is turned in the opposite direction to the front wheel that is turned in the traction direction by a traction bar that rotates in the direction pulled by the front traction vehicle or the transport vehicle. 2. Description of the Related Art A conveyance vehicle that reduces an inner ring difference from a rear wheel is known (see, for example, Patent Document 1).

JP 9-315335 A

  According to the transport vehicle of Patent Document 1, the inner wheel difference between the front wheel and the rear wheel is reduced by turning the rear wheel in the opposite direction to the front wheel turning in the pulling direction in each transport carriage.

  However, since the front end of the towed arm is connected to the towing arm fixed to the rear part of the front towing vehicle or the conveyance carriage, the towed arm is towed in the traveling direction of the front towing carriage or the conveyance carriage. When the towing vehicle changes direction, the towed arm is pulled in the turning direction of the front towing vehicle or conveyance cart, and the front and rear wheels of each conveyance cart turn in synchronization with the turning of the front towing vehicle or towing vehicle. Therefore, a deviation occurs between the traveling locus of the tow vehicle and the traveling locus of each conveyance carriage, which becomes a factor that affects smooth traveling of the conveyance vehicle. The turning angle of the front wheel and the rear wheel becomes larger as the rear carriage is moved, and a large deviation occurs between the traveling locus of the tow truck and the traveling locus of the carriage. Further, the occurrence of deviation between the traveling locus of the towing vehicle and the traveling locus of each conveyance carriage becomes more conspicuous as the loading load on the conveyance carriage increases.

  The large deviation between the travel trajectory of the tow truck and the travel trajectory of each transport cart causes the transport cart to come into contact with surrounding equipment, so reduce the number of transport carts or increase the width of the transport path. It can be dealt with by increasing the number, but if the number of trolleys towed is reduced, the transfer efficiency will decrease, and if the transfer route is widened, the area occupied by the transfer route in the factory will increase, affecting the efficient use in the factory. There is concern.

  Accordingly, an object of the present invention made in view of the above point is to provide a transport vehicle and a transport method for the transport vehicle that can suppress a shift in travel trajectory of each transport cart in a transport vehicle that pulls a plurality of transport carts and that can smoothly travel. Is to provide.

  The invention of the transport vehicle according to claim 1 that achieves the above object is a transport vehicle that pulls the transport carriage by a towing vehicle. The transport cart is provided at a front of the load platform and the front of the load platform. Alternatively, a to-be-towed member that is swingably connected to a pulling member provided at a rear portion of the transport carriage, and the front wheel and the rear if the pulling direction and the traveling direction by the front tow truck or the transport carriage are less than a predetermined angle set in advance. Steering means for stopping the wheel turning and turning the front wheel in the pulling direction by the front towing vehicle or transport carriage above the predetermined angle, and turning the rear wheel in the direction opposite to the turning direction of the front wheel in conjunction with the turning of the front wheel And rear wheel turning means.

  According to a second aspect of the present invention, in the conveyance vehicle according to the first aspect, the traction member is a traction arm extending rearward from a rear portion of the front traction vehicle or the conveyance carriage, and the towed member is the A towed arm that extends forward from a front portion of a succeeding tow vehicle and has a front end swingably connected to a rear end of the tow arm; and the steering means includes a tow arm and a towed arm. A steering link member that is rotatably provided coaxially with the connecting portion, a front wheel link member that is rotatably provided at the front portion of the cargo bed, and a contact with the traction arm that is provided on the steering link member with a gap. A pair of abutting portions that oppose each other, interlocking means that is spanned between the steering link member and the front wheel link member and synchronously rotates the steering link member and the front wheel link member, and rotation of the front wheel link member In conjunction Characterized by comprising a front wheel turning means allowed to deflect the wheel.

  According to a third aspect of the present invention, in the conveyance vehicle according to the second aspect, the steering link member is a disk-shaped steering wheel, the front wheel link member is a disk-shaped front wheel link wheel, and the interlocking The means is characterized in that the belt is wound around the steering wheel and the front wheel link wheel.

  The transport vehicle travel method according to claim 4, which achieves the above object, is a transport vehicle travel method in which the transport vehicle is pulled by a tow vehicle. If the travel direction of the vehicle is less than a predetermined angle set in advance, the turning of the front wheels and rear wheels of the succeeding transport carriage is stopped, and if the travel direction is greater than the predetermined angle, the front wheels are turned in the pulling direction of the front towing vehicle or the transport carriage. And the rear wheel is turned in the direction opposite to the turning direction of the front wheel.

  According to the first aspect of the present invention, the front tow vehicle is provided with a towed member that is swingably connected to a front tow vehicle or a tow member provided at the rear of the transport cart at the front of the carrier platform. Alternatively, when the towing direction and the traveling direction by the transport carriage are less than a predetermined angle set in advance, the turning of the front wheels and the rear wheels is stopped, whereas when the angle is greater than the predetermined angle, the steering means turns the front wheels in the towing direction by the front towing car or the transport carriage. In addition, by providing rear wheel turning means that turns the rear wheels in the direction opposite to the direction of turning the front wheels, when towing a plurality of transport carts by a towing vehicle, the front wheels and rear wheels of the transport cart are stopped from turning in straight traveling Thus, the vehicle is maintained in the straight traveling state, and after the forward traction vehicle or the transport carriage starts to shift from the straight travel to the turning travel, the subsequent transport cart shifts from the straight travel to the turning travel. As a result, the traveling trajectory of the front traction vehicle or the transport carriage and the travel trajectory of the succeeding transport carriage coincide with each other or the occurrence of deviation is extremely suppressed, and the transport vehicle can travel smoothly.

  According to the invention of claim 2, the steering means includes a steering link member rotatably provided coaxially with a connecting portion between the tow arm and the towed arm, and a front wheel link rotatably provided at the front portion of the cargo bed. Steering means is constituted by the member, a pair of abutting portions opposed to a pulling arm provided on the steering link member so as to be able to contact with a gap, and interlocking means for synchronously rotating the steering link member and the front wheel link member. In the straight traveling state, when the traction direction by the front traction vehicle or the conveyance carriage and the traveling direction of the subsequent conveyance trolley are less than a predetermined angle, the contact portion provided on the steering link member does not contact the traction arm and the front and rear wheels Is stopped and kept in a straight traveling state. On the other hand, after the front traction vehicle or the transport carriage starts to shift from straight traveling to turning, the abutment is pushed by the traction arm and rotation is applied to the steering link member to start turning of the front and rear wheels.

  The invention of claim 3 is a specific configuration of the steering means, wherein the steering link member is a disk-like steering wheel, the front wheel link member is a disk-like front wheel link wheel, and the interlocking means is the steering wheel and the front wheel link. It can be constituted by a belt wound around a wheel.

  According to the invention of claim 4, the turning of the front wheels and the rear wheels of the succeeding transport carriage is stopped when the pulling direction by the front tow truck or transport carriage and the traveling direction of the succeeding transport carriage are less than a predetermined angle set in advance. When the angle is greater than a predetermined angle, the front wheels are turned in the towing direction by the front towing vehicle or the transport carriage and the rear wheels are turned in the direction opposite to the direction of the front wheels. After the start of the transition to traveling, the succeeding carriage moves from the straight traveling to the turning traveling. As a result, the traveling trajectory of the front traction vehicle or the transport carriage and the travel trajectory of the succeeding transport carriage coincide with each other or occurrence of deviation is extremely suppressed.

  Hereinafter, embodiments of a transport vehicle and a travel method of the transport vehicle according to the present invention will be described with reference to FIG. 1 to FIG. In each figure, each component is shown by a solid line in order to simplify the drawing.

  FIG. 1 is a plan view showing an outline of a straight traveling state of the transport vehicle 1 according to the present embodiment, and FIG. 2 is a section A of FIG. 1 showing an outline of a connecting portion 30 between the traction vehicle 10 and the front transport carriage 20a. FIG. 3 is an enlarged view of FIG. 1 and is an enlarged view of a portion B in FIG. 1 showing an outline of the connecting portion 50 between the front conveyance carriage 20a and the subsequent conveyance carriage 20b. Note that the front conveyance carriage 20a and the subsequent conveyance carriage 20b have the same structure.

  The transport vehicle 1 is configured by, for example, a tow vehicle 10 that travels electrically, and a plurality of transport carts 20a and 20b that are towed and travel by the tow vehicle 10, in the present embodiment, the front side and the following two.

  The transport vehicle 1 moves along a transport path L including a straight traveling part and a turning part in the manufacturing factory. The transport path L has a magnetic tape (not shown) laid on the floor surface, and the tow truck 10 travels while detecting the magnetic tape, and moves the transport carts 20a and 20b along the transport path L. Tow up and load the loaded parts.

  Each of the transport carts 20a and 20b has a substantially rectangular loading platform 21, front wheels 22 and 23 are supported on the front left and right of the loading platform 21 so as to be freely turnable, and rear wheels 26 and 27 can be turned on the rear left and right. It is supported.

  The left and right front wheels 22, 23 are connected by a connecting arm 25 that is swingably spanned between ends of connecting plates 22 a, 23 a that swing integrally with the front wheels 22, 23. A front wheel turning means I for turning the left and right front wheels 22 and 23 in the same direction is configured by a link mechanism such as 23a and the connecting arm 25.

  Similarly, the left and right rear wheels 26, 27 are connected by a connecting arm 28 that is swingably spanned between ends of connecting plates 26a, 27a that swing integrally with the respective rear wheels 26, 27. The left and right rear wheels 26, 27 turn in the same direction in the same direction by the link mechanism including the connecting plates 26a, 27a, the connecting arm 28, and the like.

  As shown in FIG. 2, the connecting portion 30 that connects the tow truck 10 and the transport carriage 20 a includes a towed arm 31 that is a towed member that is fixed to the center of the front part of the loading platform 21 and extends forward. A traction arm 32 which is a traction member fixed to the rear center of the traction vehicle 10 and extends rearward, and a shaft 33 in which the rear end of the traction arm 32 and the front end of the towed arm 31 extend in the vertical direction. It is swingably connected.

  Steering means III is disposed at the connecting portion 30. The steering means III has a disc-like steering wheel 34 that is a steering link member that is rotatably provided coaxially with a shaft 33 that connects the tow arm 32 and the towed arm 31. Pins 35a and 35b serving as a pair of abutting portions opposed to each other so as to be able to abut with a gap are provided on both sides of the traction arm 32.

  The casters set on the front wheels 22 and 23 and the rear wheels 27 and 28 ensure the straight traveling stability of the transport carriage 20. In this straight traveling state, as shown in FIG. 2, the pins 35 a and 35 b provided on the steering wheel 34 are separated from both sides of the traction arm 32 at equal intervals. At this time, a predetermined angle set in advance while the pins 35a and 35b and the swinging traction arm 32 contact the pins 35a and 35b with respect to the shaft 33 is the play angle α.

  A disc-shaped front wheel link wheel 36 which is a front wheel link member and is positioned between the left and right front wheels 22 and 23 at the front center of the loading platform 21 is rotatably provided by a shaft 37. A belt 38 serving as interlocking means is wound between the steering wheel 34 and the front wheel link wheel 36, and the steering wheel 34 and the front wheel link wheel 36 are configured to rotate synchronously in the same direction via the belt 38. The central portion of the connecting arm 25 is pivotably connected to the center of the rear portion of the front wheel link wheel 36 via a shaft 39.

  A disc-shaped rear wheel link wheel 40 is rotatably provided by a shaft 41 between the left and right rear wheels 27 and 28 at the rear center of the loading platform 21. A central portion of the connecting arm 28 is swingably connected to the rear center of the rear wheel link wheel 40 via a shaft 42.

  One end portion of the front wheel link wheel 36 in the vehicle width direction, for example, the left end portion and the right end portion, which is the other end portion of the rear wheel link wheel 40 in the vehicle width direction, can swing the front and rear wheel link 45 via the shafts 43 and 44. It is stretched over. Rear wheel steering means for rotating the rear wheel link wheel 40 in the reverse direction in conjunction with the rotation of the front wheel link wheel 36 by the link mechanism formed by the front wheel link wheel 36, the rear wheel link wheel 40 and the front and rear wheel link 45. IV is arranged.

  That is, in the straight traveling state, the traction arm 32 provided at the rear portion of the towing vehicle 10 connected by the shaft 33 and the towed arm 31 of the transport carriage 30 extend in a substantially straight line in a plan view along the towing direction. The vehicle 10 pulls the front conveyance carriage 20a and the subsequent conveyance carriage 20b. The pins 35a and 35b provided on the steering wheel 34 abut on the traction arm 32 when the vehicle is traveling straight, more precisely, when the traction direction and the traveling direction of the transport carriage 20a are less than a predetermined angle, that is, an angle corresponding to the play angle α. There is no. When the towing direction by the towing vehicle 10 and the traveling direction of the transport carriage 20a are equal to or greater than a predetermined angle, that is, an angle corresponding to the play angle α, the tow arm 32 rotates significantly relative to the traveling direction of the transport carriage 20a. It abuts on the pin 35a or 35b and pushes to apply rotation to the steering wheel 34. The front wheel link wheel 36 is rotated via the belt 38 by the rotation of the steering wheel 34, and the connecting arm 25 of the front wheel turning means I is pushed right and left via the shaft 39 by the rotation of the front wheel link wheel 36. 23 is turned, and the rear wheel link wheel 40 rotates in the reverse direction of rotation with the front wheel link wheel 36 via the front / rear connecting link 45 of the rear wheel steering means IV, and the connecting arm of the rear wheel turning means II via the shaft 42. 28 is configured to push left and right to turn the rear wheels 27 and 28 in the opposite direction to the front wheels 22 and 23.

  A pulling arm 46 is provided so as to protrude from the center of the rear part of the loading platform 21. The traction arm 46 has the same structure as the traction arm 32 provided in the traction vehicle 10 except that the traction arm 46 has a shorter length. The linking arm 46 connects the front conveyance carriage 20a and the subsequent conveyance carriage 20b. 50 and the steering means V are the same as the connecting part 30 and the steering means III for connecting the tow truck 10 and the front transport carriage 20a, and detailed reference numerals corresponding to FIG. 2 are attached to FIG. Description is omitted.

  Next, a traveling method of the transport vehicle 1 configured as described above will be described.

  FIG. 4 is a diagram showing a state in which the transport vehicle 1 to which the transport cart 20 is pulled by the tow vehicle 10 travels from the straight portion of the transport path L to the turning portion, and (a) shows that the towing vehicle 10 starts to turn. (B) is a state in which the tow vehicle 10 has made a turn and the front transport cart 20a has started to make a turn, and (c) is a state in which both the tow vehicle 10, the front transport cart 20a and the subsequent transport cart 20b have swung. In the traveling state, (d) shows that the tow vehicle 10 shifts from the turning traveling to the straight traveling and both the front conveyance carriage 20a and the following conveyance carriage 20b are in the turning traveling state, and (e) shows the towing vehicle 10 and the front conveyance carriage 20a. From the turning traveling to the straight traveling, the succeeding transport cart 20b is in the turning traveling state, and (f) is the straight traveling state in which the towing vehicle 10, the front transporting cart 20a, and the succeeding transport cart 20b are all shifted from the turning travel to the straight traveling. Indicate There. 5 to 10 are enlarged views of FIGS. 4A to 4F, respectively.

  In the straight traveling state in which the transport vehicle 1 travels along a straight portion of the transport path L, the traction vehicle 10, the front transport cart 20a, and the subsequent transport cart 20b travel almost linearly as shown in FIG. .

  In this straight traveling state, the towed arm 31 of the front transport carriage 20a that is connected to the tow arm 32 of the towing vehicle 10 is pulled in the travel direction of the transport carriage 20a and the front wheels 22, 23 are pulled. Further, the straight traveling stability of the transport carriage 20a is ensured by casters set in advance on the rear wheels 27 and 28, and the towing vehicle 10 and the pins 35a and 35b provided on the steering wheel 34 with the play angle α as shown in FIG. The traction arm 32 provided in the is maintained in a separated state.

  Similarly, the towed arm 31 of the succeeding transport cart 20b connected to the pulling arm 46 of the front transport cart 20a is pulled in the traveling direction of the subsequent transport cart 20b, and is shown in FIG. As shown, the pins 35a and 35b provided on the steering wheel 34 and the traction arm 46 provided on the front transport carriage 20a are maintained apart by the play angle α.

  When the tow vehicle 10 of the transport vehicle 1 traveling along the straight part of the transport path L reaches the turning part of the transport path L, and the tow truck 10 starts to turn, the shaft 33 is attached to the tow arm 32 provided on the tow truck 10. The towed arm 31 of the front transport carriage 20a supported by the shaft is pulled in the travel direction of the tow truck 10, and the extension direction of the towed arm 31 connected by the shaft 33, that is, the travel direction of the transport carriage 20a. The pulling arm 32 gradually swings relative to the turning direction.

  Furthermore, when the pulling direction by the towing vehicle 10 and the traveling direction of the transport carriage 20a are less than a predetermined angle, that is, an angle corresponding to the play angle α, the front transport carriage 20a and the subsequent transport carriage 20b continue to travel straight ahead.

  4a and an enlarged view thereof reach the turning portion of the travel route L shown in FIG. 4A, or in the vicinity of the straight traveling portion and the turning portion, The relative angle between the traction direction and the traveling direction of the transport carriage 20a reaches a predetermined angle, that is, an angle corresponding to the play angle α, and the oscillating traction arm 32 is provided with a pin 35a provided on the steering wheel 34 of the steering means III, 35b, in this embodiment, the steering wheel 34 is rotated by being pushed in accordance with the pulling arm 32 which is in contact with the pin 35a and relatively swings.

  As the steering wheel 34 rotates, the front wheel link wheel 36 of the front transport carriage 20a is rotated in the same direction as the steering wheel 34 via a belt 38 wound as shown in FIG. By the rotation of the front wheel link wheel 11, the connecting arm 25 is pushed to the right in the figure via the shaft 39, and the front wheels 22 and 23 are turned to the right following the turning direction of the travel route L via the connecting plates 22a and 23a. At the same time, the rear wheel link wheel 40 rotates in the reverse direction of rotation with respect to the front wheel link wheel 36 via the front and rear wheel connection links 45, and the connection arm 28 is pushed to the left side via the shaft 42 so that the rear wheels 27, 28 are moved. Turning in the opposite direction to the front wheels 22 and 23, as shown in FIG. 5 (a), the front transport carriage 20a starts turning on a running locus along the turning portion.

  In this state, the front transport cart 20a starts turning, but the towed arm 31 provided on the subsequent transport cart 20b supported by the shaft 33 on the pulling arm 46 provided on the front transport cart 20a. The traction arm 46 gradually swings in the turning direction with respect to the extending direction of the to-be-towed arm 31 that is pulled in the traveling direction of the front transport carriage 20 a and connected by the shaft 33. When the traction direction of the front conveyance carriage 20a and the traveling direction of the subsequent conveyance carriage 20b are less than a predetermined angle, that is, an angle corresponding to the play angle α, the traction arm 46 contacts the pins 35a and 35b provided on the steering wheel 34. There is no contact, there is no rotation of the steering wheel 34, and the succeeding carriage 20b continues straight running.

  The succeeding transport cart 20b that is pulled by the front transport cart 20a continues to travel straight and reaches the turning portion of the travel path L as shown in FIGS. 4B and 6A, or In the vicinity of the turning portion, the relative angle between the pulling direction of the front transport carriage 20a and the traveling direction of the subsequent transport carriage 20b reaches an angle corresponding to the play angle α, and the relative swing is performed as shown in FIG. The traction arm 46 that rotates is in contact with the pins 35a and 35b provided on the steering wheel 34 of the steering means V, in this embodiment, the pin 35a, and rotates relative to the traction arm 32 that relatively swings. To do.

  The front wheel link wheel of the succeeding transport carriage 20 has the same direction as the steering wheel 34 via the belt 38 wound as shown in FIG. 6B with the rotation of the steering wheel 34 of the steering means V in the connecting portion 50. Is given rotation. By the rotation of the front wheel link wheel 11, the connecting arm 25 is pushed to the right in the figure via the shaft 39, and the front wheels 22 and 23 are turned to the right following the turning direction of the travel route L via the connecting plates 22a and 23a. At the same time, the rear wheel link wheel 40 rotates in the reverse direction of rotation with respect to the front wheel link wheel 36 via the front and rear wheel connection links 45, and the connection arm 28 is pushed to the left side via the shaft 42 so that the rear wheels 27, 28 are moved. Turning in the opposite direction to the front wheels 22 and 23, as shown in FIG. 6 (a), the succeeding transport carriage 20b starts turning on a turning locus along the turning portion.

  When the traction vehicle 10, the forward conveyance vehicle 20a and the subsequent conveyance vehicle 20b shown in FIGS. 4 (c) and 7 are all turning, the traction arm 32 coupled to the traction vehicle 10 is a steering wheel of the steering means III. The rotation of the front wheel link wheel 36 of the front conveyance carriage 20a is held via a belt 38 wound around the steering wheel 34 while the rotation of the steering wheel 25 is held substantially stopped by pressing the pin 35a provided on the steering wheel 34. Is held in a stopped state.

  As the front wheel link wheel 36 stops rotating, the push of the connecting arm 25 is restricted via the shaft 39, and the front wheels 22 and 23 are moved to the right side following the turning direction of the travel path L via the connecting plates 22a and 23a. While being maintained in the turned state, the rear wheel link wheel 40 is held in a rotation stopped state via the front and rear wheel connecting links 45. When the rotation of the rear wheel link wheel 40 is stopped, the pushing of the connecting arm 28 is restricted via the shaft 42, and the rear wheels 27, 28 are maintained in the direction opposite to the front wheels 22, 23. 20a continues turning travel along a trajectory along the turning portion.

  Similarly, the traction arm 46 coupled to the front transport carriage 20a presses the pin 35a provided on the steering wheel 34 of the steering means V, and the rotation of the steering wheel 25 is held substantially stopped. The rotation of the front wheel link wheel 36 of the succeeding carriage 20b is held in a stopped state via the belt 38 wound around the belt. As the front wheel link wheel 36 stops rotating, the push of the connecting arm 25 is restricted via the shaft 39, and the front wheels 22 and 23 are moved to the right side following the turning portion of the travel path L via the connecting plates 22a and 23a. While being maintained in the turned state, the rear wheel link wheel 40 is held in a rotation stopped state via the front and rear wheel connecting links 45. When the rotation of the rear wheel link wheel 40 is stopped, the push of the connecting arm 28 is restricted via the shaft 42 and the rear wheels 27 and 28 are maintained in a state of turning in the opposite direction to the front wheels 22 and 23, and the following transport carriage 20b continues turning with a running locus along the turning portion.

  As shown in FIGS. 4D and 8, the tow vehicle 10 of the transport vehicle 1 traveling along the turning portion of the transport path L reaches the straight traveling portion, and is provided in the towing vehicle 10 when the towing vehicle 10 starts traveling straight. The towed arm 31 provided on the front conveying carriage 20a supported by the shaft 33 on the drawn towing arm 32 is pulled in the traveling direction of the towing vehicle 10, and the towing direction by the towing vehicle 10 and the traveling direction of the conveying carriage 20a. And the rotation imparting that the traction arm 32 pushes the pin 35a provided on the steering wheel 34 of the steering means III gradually decreases.

  When the front transport carriage 20a shown in FIG. 4 (e) and FIG. 9 reaches the straight traveling portion, the front wheels 22, 23 and the rear wheels 27 are cast by the casters set in advance on the front wheels 22, 23 and the rear wheels 27, 28. , 28 gradually return to the straight running state. The front wheels 22, 23 and the rear wheels 27, 28 are rotated in a straight line so that the front wheel link wheel 36 and the rear wheel link wheel 40 are rotated in response to the belt 38 that is passed around the front wheel link wheel 36. The pin 34a and 35b provided on the steering wheel 34 and the traction arm 32 provided on the towing vehicle 10 are maintained in a straight-advancing state in which the pin 34 is rotated.

  In this state, in the succeeding transport cart 20b, the traction arm 46 coupled to the front transport cart 20a still presses the pin 35a provided on the steering wheel 34 of the steering means V, so that the rotation of the steering wheel 25 is almost stopped. The front wheel link wheel 36 of the succeeding transport carriage 20 is held in a stopped state via the belt 38 wound around the steering wheel 34. As the front wheel link wheel 36 stops rotating, the push of the connecting arm 25 is restricted via the shaft 39, and the front wheels 22 and 23 are moved to the right side following the turning direction of the travel path L via the connecting plates 22a and 23a. While being maintained in the turned state, the rear wheel link wheel 40 is held in a rotation stopped state via the front and rear wheel connecting links 45. When the rotation of the rear wheel link wheel 40 is stopped, the push of the connecting arm 28 is restricted via the shaft 42 and the rear wheels 27 and 28 are maintained in a state of turning in the opposite direction to the front wheels 22 and 23, and the following transport carriage 20 continues to turn on a trajectory along the turning portion.

  When the front transport cart 20a starts traveling straight, a towed arm 31 provided on a subsequent transport cart 20b supported by a shaft 33 on a pulling arm 32 provided on the transport cart 20a is connected to the front transport cart 20a. Rotation is imparted by being pulled in the traveling direction and gradually decreasing the relative angle between the pulling direction of the front conveying cart 20a and the running direction of the conveying cart 20b, and the towing arm 46 pushes the pin 35a provided on the steering wheel 34. It gradually decreases.

  As shown in FIG. 4 (f) and FIG. 10, when the succeeding transport cart 20b reaches the straight traveling portion from the turning portion, casters set in advance on the front wheels 22, 23 and the rear wheels 27, 28 of the succeeding transport cart 20b. Thus, the front wheels 22, 23 and the rear wheels 27, 28 are gradually returned to the straight traveling state. The front wheels 22, 23 and the rear wheels 27, 28 are rotated in a straight line so that the front wheel link wheel 36 and the rear wheel link wheel 40 are rotated in response to the belt 38 that is passed around the front wheel link wheel 36. The pin 34a and 35b provided on the steering wheel 34 and the traction arm 32 provided on the towing vehicle 10 are maintained in a straight traveling state in which the pin 34 rotates and the traction arm 32 provided on the traction vehicle 10 is separated.

  According to the transport vehicle 1 of the present embodiment configured as described above, when the tow vehicle 10 pulls the plurality of transport carts 20a and 20b, the forward tow vehicle 10 starts to shift from straight travel to turning travel. The succeeding front transport carriage 20a shifts from straight travel to turning, and after the front transport cart 20a starts transitioning from straight travel to turning, the subsequent transport cart 20b transitions from straight travel to swiveling. Similarly, after the tow vehicle 10 starts to shift from turning to straight travel, the front transport carriage 20a transitions from turning to straight travel, and after the front transport carriage 20a starts to transition from turning to straight travel, As the transport cart 20b shifts from turning to straight travel, the towing vehicle 10, the front transport cart 20a, and the subsequent transport cart 20b are moved straight at substantially the same position. To shift to straight travel from turning and turning from traveling. As a result, the traveling trajectories of the towing vehicle 10, the transport cart 20a, and the transport cart 20b coincide with each other or the occurrence of deviation is extremely suppressed, and the transport vehicle 1 can smoothly travel. Since the deviation of the travel path is suppressed, the effective width of the travel route L can be reduced, the occupied area of the travel route can be reduced, and the factory can be efficiently used, and the traction It is possible to increase the number of transport carts pulled by the vehicle 10 and to improve transport efficiency.

  In addition, the conveyance vehicle of this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the meaning of invention. For example, in the above embodiment, the belt 38 is wound around the steering wheel 34 and the front wheel link wheel 36 of the steering means III, and the steering wheel 34 and the front wheel link wheel 36 are synchronously rotated via the belt 38. It is also possible to construct a connecting link between the wheel 34 and the front wheel link wheel 36 so as to be swingable so that the steering wheel 34 and the front wheel link wheel 36 by the link mechanism rotate synchronously.

  In the above embodiment, the transport vehicle used in the factory has been described as an example. However, the present invention can be applied to a transport vehicle that transports passenger luggage, or can be widely applied to play equipment.

It is a top view which shows the outline | summary of the conveyance vehicle of embodiment which concerns on this invention, and the traveling method of a conveyance vehicle, and is a figure which shows a straight traveling state. It is the A section enlarged view of FIG. 1 which shows the outline | summary of the connection part of a tow vehicle and a conveyance trolley. It is the B section enlarged view of FIG. 1 which shows the outline | summary of the connection part of a front conveyance trolley and a subsequent conveyance trolley. It is a figure which shows the state which a conveyance vehicle drive | works the turning part of a conveyance path | route, (a) is the state which the tow vehicle started turning driving | running | working, (b) The tow vehicle makes turning driving | running | working, and the conveyance cart of the front carries out turning driving | running | working. (C) is the towing vehicle, the front transport cart and the subsequent transport cart are both in the turning state, and (d) is the front transport cart and the subsequent transport cart in which the tow vehicle has shifted from the turning travel to the straight travel. (E) is the towing vehicle and the front conveyance carriage, and the following conveyance carriage is in the turning movement state. (F) is the towing vehicle, the front conveyance carriage, and the subsequent conveyance. Both of the carts show a straight traveling state in which the traveling is changed from turning to straight traveling. (A) is an enlarged view of Fig.4 (a), (b) is an enlarged view of a connection part. (A) is an enlarged view of FIG.4 (b), (b) is an enlarged view of a connection part. FIG. 5 is an enlarged view of FIG. FIG. 5 is an enlarged view of FIG. It is an enlarged view of FIG.4 (e). FIG. 5 is an enlarged view of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Conveyance vehicle I Front wheel turning means II Rear wheel turning means III Steering means IV Rear wheel steering means V Steering means 10 Towing vehicles 20a, 20b Conveying carriage 21 Cargo carrier 22, 23 Front wheels 26, 27 Rear wheel 30 Connecting portion 31 Towed arm ( Towed member)
32 Traction arm (traction member)
34 Steering wheel (steering link member)
35a, 35b Pin (contact part)
36 Front wheel link wheel (front wheel link member)
38 belt (interlocking means)
45 Front and rear wheel link (rear wheel steering means)
46 Traction arm (traction member)
50 connections

Claims (4)

In a transport vehicle that pulls a transport carriage by a tow vehicle,
The transport cart is
Loading platform,
A towed member that is swingably connected to a towing member that is provided at the front part of the cargo bed and that is provided at the rear part of the front towing vehicle or the conveying carriage;
Rear wheel turning means for turning the rear wheel in the direction opposite to the direction of turning the front wheel in conjunction with the turning of the front wheel;
If the towing direction and the traveling direction by the front towing vehicle or the transport carriage are less than a predetermined angle set in advance, the turning of the front wheels and the rear wheels is stopped, and if it is above the predetermined angle, the front wheel in the towing direction by the front towing car or the transport carriage is stopped. And a steering means for turning the vehicle. The traction member is
A traction arm extending rearward from a rear portion of the front traction vehicle or transport carriage,
The towed member is
A towed arm that extends forward from the front of the subsequent towing vehicle and has a front end swingably coupled to a rear end of the towing arm;
The steering means is
A steering link member rotatably provided on the same axis as the connecting portion between the tow arm and the towed arm;
A front wheel link member rotatably provided at the front of the loading platform;
A pair of contact portions provided on the steering link member and facing the pulling arm so as to be able to contact with a gap;
Interlocking means that is spanned between the steering link member and the front wheel link member and synchronously rotates the steering link member and the front wheel link member;
The transport vehicle according to claim 1, further comprising front wheel turning means for turning the front wheel in conjunction with rotation of the front wheel link member. The steering link member is a disc-shaped steering wheel,
The front wheel link member is a disk-shaped front wheel link wheel,
The transport vehicle according to claim 2, wherein the interlocking means is a belt wound around the steering wheel and a front wheel link wheel. In the traveling method of the transport vehicle that pulls the transport cart by the towing vehicle, the front wheel of the succeeding transport cart and the front wheel of the succeeding transport cart are less than the predetermined angle set in advance by the pulling direction by the front tow vehicle or the transport cart and the travel direction of the subsequent transport cart. The conveyance is characterized in that the turning of the rear wheel is stopped, and the front wheel is turned in the pulling direction by the front towing vehicle or the transport carriage above the predetermined angle and the rear wheel is turned in the direction opposite to the turning direction of the front wheel. How to drive the vehicle.

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