JP2009234523A - Transporting device and transporting method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a transporting device and a transporting method having such a configuration that a pair of arms able to revolve are arranged in front of and behind wheel(s) which is/are held by the arms and transported, capable of working well with transport of any vehicle of various types by decreasing the apparent revolving region of the arms. <P>SOLUTION: When the rear arm 31b is to be revolved from the retracted attitude to the attitude able to abut, the rear arm 31b put in the retracted attitude in the second position B set in front of the first position A where the arm 31b is put in the attitude able to abut, is revolved while it 31b is moved from the second position B to the first position A. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a transport apparatus and a transport method, and more particularly to a transport apparatus and a transport method suitable for transporting a vehicle having two wheels that are close to each other in the front-rear direction.

  For example, when inspecting the contents of a container loaded on the vehicle by irradiating X-rays from the outside, it is necessary to transport the vehicle to the X-ray device in a state where the driver does not get into the vehicle. A conveying device that conveys a vehicle in a state where the vehicle is held and lifted is used.

For example, Patent Documents 1 and 2 propose a transport device that transports a vehicle in a state in which the wheels are held and lifted by a pair of arm portions disposed before and after the wheels of the vehicle.
According to such a transport device, the arm portion can be turned. By turning the arm portion, the arm portion is arranged before and after the wheel placed at the reference position.

According to the transport apparatus having such a configuration, the vehicle can be transported without forming an underground pit, unlike the transport apparatus proposed in Patent Document 3, so that the installation cost of the transport apparatus is greatly reduced. There is merit that we can do.
JP 2007-331852 A JP 2007-331853 A Japanese Patent No. 4005828

By the way, in order to arrange | position an arm part before and behind a wheel as mentioned above, it is necessary to turn an arm part and it is necessary to ensure the area | region for turning an arm part.
However, there are various types of vehicles on which containers are loaded, and there may be an obstacle that obstructs the turning of the arm part before and after the wheel to be held. A vehicle in which such an obstacle exists cannot be transported by the transport devices proposed in Patent Documents 1 and 2 because the arm portions cannot be disposed before and after the wheels.
For this reason, in order to be compatible with various vehicles, it is desired to make the turning region of the arm portion smaller.

  In particular, since there are large-sized vehicles on which containers are loaded, there are cases where the front wheels are composed of two wheels (front front wheels and rear front wheels) that are close to each other in the front-rear direction. When an attempt is made to hold the front front wheel of a vehicle having such two front wheels, the front and rear wheels become the obstacle, and the arm portions cannot be disposed on the front and rear sides of the vehicle.

  The present invention has been made in view of the above-described problems, and in a transport apparatus and a transport method in which a pair of pivotable arm portions are arranged in front of and behind a wheel, and the wheels are held and transported by the arm portions, It is an object of the present invention to make it possible to handle various types of vehicles by reducing the apparent turning area of the arm portion.

  In order to achieve the above object, a transport device of the present invention is a transport device that transports a vehicle in which wheels are held by a holding portion, and has a pair of arm portions that can be arranged before and after the wheels, It is possible to turn between a contactable posture in which a rear arm portion, which is an arm portion that can be arranged at least on the rear side of the wheel, can contact the wheel, and a retracted posture in which the wheel is retracted from the moving region of the wheel. The holding arm and a control unit that controls the holding unit, and the control unit rotates the rear arm unit from the retracted position to the contactable position. Is moved from the second position to the first position by moving the rear arm portion in the retracted position at the second position set in front of the first position in which the contactable posture is set. It is characterized by turning while moving.

  According to the transport apparatus of the present invention having such a feature, the rear arm portion is moved from the second position set to the front side to the first position where the rear arm portion is brought into a contactable posture. While being moved to the position 1, it is turned from the retracted position to the contactable position.

  Further, in the transport device according to the present invention, when the vehicle includes two wheels disposed close to each other in the front-rear direction, the second position moves the rear arm portion at the second position. When the vehicle is turned, the rear arm unit is set at a position where the rear arm unit does not interfere with the rear wheel of the wheels, and the control unit moves the rear arm unit from the second position to the first position. A configuration is adopted in which the turning operation and the moving operation of the rear arm portion are controlled so that the rear arm portion does not interfere with the wheel when the rear arm portion is moved.

  In the transport apparatus of the present invention, the control unit moves the rear arm unit from the second position to the first position at a constant speed, and sets the turning speed of the rear arm unit to A configuration is adopted in which control is performed so that the rear arm portion does not interfere with the wheel.

  In the transport apparatus of the present invention, the control unit continuously turns the rear arm from the retracted posture until the tip of the rear arm enters the wheel, and the rear arm The turning of the rear arm part is stopped from the position where the tip of the part enters between the wheels to the position where it does not interfere with the front wheel even when the rear arm part is turned, and the rear side A configuration is adopted in which the rear arm portion is controlled so as not to interfere with the wheels by continuously turning to the contactable posture at a constant speed after the arm portion is moved to a position where the arm portion does not interfere.

  Further, in the transport device according to the present invention, the control unit is configured to move the rear arm when the rear arm is continuously turned from the retracted posture until the front end of the rear arm enters between the wheels. When the front end of the side arm is positioned in front of the wheel, the rear arm is relatively swiveled at a high speed, and the rear arm is relatively moved from the front of the wheel to the position where it enters between the wheels. A configuration is adopted in which the part is turned at a low speed.

  Moreover, in the conveyance apparatus of this invention, the said control part acquires the information regarding the wheel of the vehicle previously memorize | stored in the memory | storage part based on the vehicle type information input from an operation part, The acquired information regarding the wheel of the said vehicle A configuration is adopted in which the holding unit is controlled based on the above.

  Next, a transport method according to the present invention is a transport method for transporting a vehicle in which wheels are held by a holding portion, and has a pair of arm portions that can be arranged before and after the wheels, and at least after the wheels. The holding portion that is turnable between a contactable posture in which a rear arm portion, which is an arm portion that can be disposed on the side, can come into contact with the wheel, and a retracted posture that is retracted from a moving region of the wheel When the rear arm portion is turned from the retracted posture to the contactable posture, the rear arm portion is set in front of the first position where the contactable posture is set. The rear arm portion in the retracted position at the position 2 is turned while being moved from the second position to the first position.

  According to the transport method of the present invention having such a feature, the rear arm portion is moved from the second position set to the front side to the first position where the rear arm portion is brought into a contactable posture. While being moved to the position 1, it is turned from the retracted position to the contactable position.

  In the transport method of the present invention, when the vehicle includes two wheels disposed close to each other in the front-rear direction, the second position moves the rear arm portion at the second position. When the vehicle is turned, the rear arm unit is set to a position that does not interfere with the rear wheel of the wheels, and the rear arm unit is moved from the second position to the first position. A configuration is adopted in which the rear arm portion performs a turning operation and a moving operation so that the rear arm portion does not interfere with the wheels.

  In the transport method of the present invention, the rear arm unit is moved at a constant speed from the second position to the first position, and the rear arm unit determines the turning speed of the rear arm unit. A configuration is adopted in which the wheel is not interfered with.

  Further, in the transport method of the present invention, the rear arm portion is continuously swung from the retracted posture until the front end portion of the rear arm portion enters between the wheels, and the front end portion of the rear arm portion is Even if the rear arm portion turns from the position where it enters between the wheels, the rear arm portion stops turning to a position where it does not interfere with the front wheel, and the rear arm portion interferes with the interference. A configuration is adopted in which the rear arm portion is prevented from interfering with the wheels by continuously turning to the contactable posture at a constant speed after being moved to a position where the wheel does not interfere.

  In the transport method of the present invention, when the rear arm is continuously turned from the retracted posture until the tip of the rear arm enters between the wheels, the rear arm is When the front end is located in front of the wheel, the rear arm is relatively swiveled at a high speed, and the rear arm is swiveled at a low speed from the front of the wheel to a position where it enters between the wheels. Adopting a configuration to do.

According to the transport apparatus and method of the present invention having such characteristics, the rear arm portion is set to the second position set to the front side of the first position where the rear arm portion can be brought into contact. From the retracted posture to the contactable posture while being moved from the first position to the first position. For this reason, it is possible to reduce the apparent swivel area of the rear arm part, even when the distance between the wheel with which the rear arm part is in contact with the obstacle on the rear side is narrower than before, It is possible to insert the rear arm portion between the wheel to be in contact with the obstacle.
Therefore, according to the present invention, it is possible to handle various types of vehicles, and in particular, it is possible to hold the front front wheel of the vehicle, which is composed of two wheels whose front wheels are close to each other in the front-rear direction, by the arm portion. Become.

  Hereinafter, an embodiment of a transport apparatus and a transport method according to the present invention will be described with reference to the drawings. In the following drawings, the scale of each member is appropriately changed in order to make each member a recognizable size.

1 and 2 are diagrams illustrating a schematic configuration of the transport device S of the present embodiment, in which FIG. 1 is a side view and FIG. 2 is a plan view. FIG. 3 is a block diagram showing an electrical connection relationship of the transport device S of the present embodiment.
As shown in these drawings, the transport device S of the present embodiment includes a main body unit 1, an elevating unit 2, a holding unit 3, and a control panel 4.

The main body 1 includes a frame 11 that is a support structure, a plurality of wheels 12 that support the frame 11 so that the frame 11 can travel, a traveling motor 13 that generates an output for rotationally driving the wheels 12, a plurality of gears, And a transmission mechanism 14 configured of a belt and transmitting the output of the travel motor 13 to the wheels 12. The upper part of the frame 11 is closed by a ceiling plate.
The main body 1 having such a configuration can travel in the left-right direction in FIGS. 1 and 2 when the output of the travel motor 13 is transmitted to the wheels 12 by the transmission mechanism 14 and the wheels 12 are driven to rotate. It is said that.

The elevating unit 2 includes a cylinder 21 that is driven in the traveling direction of the main body 1, and a substantially L-shaped support portion 22 that is pivotally supported by the cylinder 21 and the main body 1. And the arm part 31 and the arm part drive part 32 of the holding | maintenance part 3 mentioned later are installed in the front-end | tip part of the extending direction of the support part 22. As shown in FIG.
The elevating unit 2 having such a configuration causes the support unit 22 to swing in the vertical direction by driving the cylinder 21, thereby moving the arm unit 31 installed on the support unit 22 up and down.
As shown in FIG. 2, the elevating units 2 are respectively disposed on both sides of the stop area of the vehicle 100.

The holding unit 3 includes an arm unit 31, an arm unit driving unit 32, and a hydraulic device 33.
The arm unit 31 includes a front arm unit 31 a disposed on the front side of the wheel 200 of the vehicle 100 and a rear arm unit 31 b disposed on the rear side of the wheel 200 of the vehicle 100. The arm drive unit 32 includes a hydraulic cylinder 32 a that is driven in the direction of turning the arm unit 31, and a link member 32 b that transmits the driving force of the hydraulic cylinder 32 a to the arm unit 31.
And as shown in FIG. 2, the arm part 31 is installed with respect to each of the support parts 22 of the raising / lowering part 2. As shown in FIG. Moreover, the arm part drive part 32 is installed with respect to each of the front side arm part 31a which comprises the arm part 31, and the rear side arm part 31b.
The hydraulic device 33 is driven by transmitting hydraulic pressure to the hydraulic cylinder 32a of the arm drive unit 32. The hydraulic device 33 is installed on the frame 11 of the main body 1 and is connected to the hydraulic cylinder 32a via a hydraulic pipe (not shown). It is connected. The hydraulic device 33 is connected not only to the hydraulic cylinder 32 a but also to the cylinder 21 of the elevating unit 2, and drives the cylinder 21.

In the transport device S of the present embodiment, the front arm portion 31a and the rear arm portion 31b are capable of turning in the arrow direction (direction along the horizontal plane) shown in FIG. And a retreating posture retracted from the wheel movement region.
Here, the contactable posture means that the arm portion 31 extends in a horizontal direction (axial direction of the wheel 200) orthogonal to the traveling direction of the vehicle 100 and can contact the wheel 200 at a side portion of the arm portion 31. 2 is the posture shown in FIG. The retracted posture is an arm when the arm portion 31 extends in a direction along the traveling direction of the vehicle 100 (a direction intersecting the axial direction of the wheels 200) and the vehicle 100 and the main body portion 1 move relative to each other. It is the attitude | position which the part 31 and the wheel 200 do not interfere (refer FIG. 5).
In addition, since it is necessary for the arm part 31 to pinch the wheel 200 of the vehicle 100, as shown by the arrow in FIG. When the vehicle is turned and turned from the contactable posture to the retracted posture, the vehicle is turned away from the wheel 200.
That is, when the front arm portion 31 a is turned from the contactable posture to the retracted posture, the front arm portion 31 a is turned so that the front end portion is directed in the forward direction of the vehicle 100. Further, when the rear arm portion 31 b is turned from the contactable posture to the retracted posture, the rear arm portion 31 b is turned so that the front end portion faces the rear direction of the vehicle 100.

  The control panel 4 is one in which a mechanism for controlling the transport device S of the present embodiment such as the control unit 5 and the storage unit 6 shown in FIG. 3 is integrally stored, as shown in FIGS. 1 and 2. It is installed with respect to the frame 11 of the main body 1.

As shown in FIG. 3, the control unit 5 is electrically connected to the main body unit 1, the lifting unit 2, the holding unit 3, the storage unit 6, and the operation unit 7, and performs the operation of the transport device S of the present embodiment. Control.
More specifically, the control unit 5 controls the driving of the traveling motor 13 of the main body unit 1 based on various programs and various data stored in the storage unit 6 and information input from the operation unit 7. Is used to control the travel of the main body 1, and the lift of the arm unit 31 is controlled by controlling the drive of the cylinder 21 of the lift unit 2 via the hydraulic device 33, and the hydraulic cylinder of the holding unit 3 is controlled via the hydraulic device 33. The turning of the arm portion 31 is controlled by controlling the driving of the 32a.
In addition, although the characteristic of the conveying apparatus S of this embodiment exists in control by the control part 5, it explains in full detail in description of operation | movement (conveying method) of the subsequent conveying apparatus S about the said control.

  As described above, the storage unit 6 stores various programs and various data used by the control unit 5. And in the conveyance apparatus S of this embodiment, the memory | storage part 6 has memorize | stored the information regarding the wheel of the vehicle linked | related with the vehicle type information. In more detail, the memory | storage part 6 has memorize | stored the number of the wheels of the vehicle for every vehicle model, the separation distance of a wheel, etc. as information regarding the wheel of a vehicle.

  The operation unit 7 (not shown in FIGS. 1 and 2) is used, for example, for a guide of the vehicle 100 to input the vehicle type information. For example, the operation unit 7 is installed at a position where the vehicle 100 can easily input the vehicle type information. And is electrically connected to the control unit 5.

  Next, the operation (conveying method) of the conveying apparatus S of the present embodiment configured as described above will be described with reference to the flowchart of FIG. Note that the subject of the operation of the transport device S of the present embodiment is the control unit 5.

First, when the driver stops the vehicle 100 in the stop area, the driver gets off, and the guide inputs vehicle type information to the operation unit 7 (step S1), the control unit 5 receives the input vehicle type information. To obtain information on the wheels of the vehicle.
In the description of the operation, as shown in FIG. 1, the vehicle 100 in which the front front wheel 200a and the rear front wheel 200b are arranged close to each other in the front-rear direction, that is, two wheels where the front wheels are arranged close to the front-rear direction. The vehicle 100 comprised by this shall be conveyed.

In step S1 and step S2, the holding unit 3 is in a standby state until the vehicle 100 stops at the stop position. Here, the arm unit 31 of the holding unit 3 includes at least the rear arm unit 31b. The retracted posture is assumed. This prevents the rear arm portion 31b and the wheel 200 from interfering until the vehicle 100 stops in the stop area.
Note that the front arm portion 31a is located at a position where the front arm portion 31a is in contact with the front front wheel 200a of the vehicle 100 stopped in the stop area or in front of the vehicle from the contact position. It is possible to wait in a contactable posture. Normally, the standby position of the main body 1 is the reference position when the front arm 31a is brought into a contactable posture, and the position where the main body 1 accurately contacts the front front wheel 200a is the reference position. . Therefore, by making the front arm portion 31a stand by in a contactable posture, the front arm portion 31a can function as a vehicle stop, and the vehicle can be easily stopped in the stop area.

And the control part 5 will hold | maintain the arm part 31 before and behind the front front wheel 200a (wheel 200), after the input of vehicle type information (step S1) and acquisition of the information regarding a wheel (step S2) are complete | finished as mentioned above. Operation (step S3) is performed.
When the control unit 5 starts the holding operation, the abutting position A (FIG. 5) is a position (first position) that abuts the front front wheel 200a when the rear arm portion 31b is in a contactable posture. To 13) are set based on the information about the wheel acquired in step S2. When the front arm 31a is in a contactable posture as described above and is waiting at a position where it can come into contact with the front front wheel 200a of the vehicle 100 stopped in the stop area, the rear corresponding to this position is used. The position of the side arm portion 31b is the contact position A.
Further, when starting the holding operation, the control unit 5 turns at a position (second position) where the turning of the rear arm portion 31b is started in front of the contact position A (front side of the vehicle 100). Set the start position B. The turning start position B is set to a position where the tip of the rear arm portion 31b does not interfere with the rear front wheel 200b when the rear arm portion 31b is turned from the retracted posture toward the contactable posture. . And the control part 5 sets the turning start position B based on the information regarding the wheel acquired in step S2.

Here, the holding operation will be described in detail with reference to FIGS. In this holding operation, the holding unit 3 installed on the support unit 22 of the one lifting unit 2 and the holding unit 3 installed on the support unit 22 of the other lifting unit 2 are lines around the vehicle 100. Perform symmetric operation. For this reason, in the following description, only the holding | maintenance part 3 installed in the support part 22 of one raising / lowering part 2 is shown in figure. Further, in this holding operation, the front arm portion 31a always maintains the contactable posture, and therefore the illustration of the front arm portion 31a and the like is omitted in FIG. 5 to FIG. 13 in order to improve the visibility. 22, only the rear arm 31b and the wheels 200 (the front front wheel 200a and the rear front wheel 200b) are schematically shown.
Further, the holding operation is performed in a state in which the vehicle 100 stops in the stop area in a state in which the front arm portion 31a is in a contactable posture and is in a position where it can contact the front front wheel 200a of the vehicle 100 stopped in the stop area. It is assumed that the state is started from the state where the rear arm portion 31b is located at the contact position A in the retracted posture.
5 to 13, hatched areas shown in the front front wheel 200a and the rear front wheel 200b indicate cross-sectional portions at a height at which the arm portion 31 is in contact.

When the holding operation is started, as shown in FIG. 5, the control unit 5 moves the rear arm portion 31b from the contact position A toward the turning start position B in a state where the retracted posture is maintained. As shown, it moves to the turning start position B. At this time, as shown in FIG. 6, the front arm portion 31a is moved to a position C that is separated from the front front wheel 200a.
The control unit 5 moves the arm unit 31b by driving the traveling motor 13 of the main body unit 1 to cause the main body unit 1 to travel.

Subsequently, as shown in FIG. 7, the control unit 5 moves the rear arm unit 31 b from the turning start position B toward the contact position A, and as shown in FIGS. 8 to 13, the rear arm unit 31 b. While 31b is moved from the turning start position B to the contact position A, the rear arm portion 31b is turned from the retracted position to the contactable position.
Here, in the transport device S of the present embodiment, the control unit 5 makes the moving speed of the rear arm unit 31b constant when moving the rear arm unit 31b from the turning start position B to the contact position A, The turning speed of the arm part 31 b is adjusted so that the rear arm part 31 b does not interfere with the wheel 200.

Specifically, as shown in FIG. 8, the control unit 5 moves the rear arm unit 31b relative to the turning angle θ1 until the tip of the rear arm unit 31b is positioned in front of the front front wheel 200a. Turn at high speed.
Further, as shown in FIG. 10, the control unit 5 determines the turning angle at which the tip of the rear arm portion 31b enters between the front front wheel 200a and the rear front wheel 200b (between the wheels) from the turning angle θ1. Up to θ2 (state shown in FIG. 9), the rear arm portion 31b is turned relatively slowly.
That is, in the transport device S of the present embodiment, the control unit 5 continuously turns the rear arm portion 31b until the front end portion enters between the front front wheel 200a and the rear front wheel 200b, and the front end portion is in front. The vehicle turns at a relatively high speed until it is positioned in front of the front wheel 200a, and then turns at a relatively low speed. As a result, the time until the rear arm portion 31b enters between the front front wheel 200a and the rear front wheel 200b is shortened, and further, after the rear arm portion 31b enters between the front front wheel 200a and the rear front wheel 200b. It is possible to prevent the rear arm portion 31b from interfering with the wheel 200 due to vibration or the like.

Next, as shown in FIG. 10, when the control unit 5 turns the rear arm part 31b to the turning angle θ2, the control part 5 once stops the turning of the rear arm part 31b. That is, the turning of the rear arm portion 31b is temporarily stopped at the position where the front end portion of the rear arm portion 31b enters between the front front wheel 200a and the rear front wheel 200b.
And the control part 5 will be in the position D which becomes a contactable attitude | position in the contact position A, without interfering with the wheel 200, when the rear side arm part 31b turns at a fixed speed as shown in FIG. The turning of the rear arm 31b is stopped at the turning angle θ2 until reaching the position D, and the turning of the rear arm 31b reaching the position D is resumed at the constant speed.

Thereafter, as shown in FIG. 12, the control unit 5 turns the rear arm portion 31b at a constant speed until the contact position A is reached (that is, until the contactable posture is reached). And the control part 5 stops the movement and turning of the rear arm part 31b, as shown in FIG. 13, when the rear arm part 31b becomes a contactable posture at the contact position A.
As a result, the rear arm portion 31b is disposed on the rear side of the front front wheel 200a. Further, when the rear arm portion 31b returns to the contact position A, the front arm portion 31a is disposed on the front side of the front front wheel 200a. Therefore, the arm part 31 is arrange | positioned before and behind the front front wheel 200a.

And when the rear arm part 31b is moved at a constant speed from the turning start position B to the contact position A by adjusting the turning speed of the rear arm part 31b as shown in FIGS. The rear arm portion 31b can be disposed on the rear side of the front front wheel 200a so as not to interfere with the wheel 200.
In such a case, since the amount to be changed by the control unit 5 is only the turning speed of the rear arm portion 31b, the control can be simplified.

As described above, in the transport device S of the present embodiment, in the holding operation, when the control unit 5 turns the rear arm portion 31b from the retracted posture to the contactable posture, the posture in which the rear arm portion 31b can come into contact is possible. The rear arm portion 31b in the retracted position at the turning start position B set in front of the contact position A is turned while moving from the turn start position B to the contact position A.
Note that the turning angles θ1, θ2, the position D, and the moving speed in the holding operation are set by the control unit 5 based on the information about the vehicle wheels acquired in step S2.

Returning to FIG. 4, when the holding operation (step S <b> 3) ends, the control unit 5 subsequently performs a vehicle transport operation (step S <b> 4).
More specifically, the control unit 5 drives the cylinder 21 of the elevating unit 2 via the hydraulic device 33 to raise the arm unit 31 supported by the support unit 22 and float the front side of the vehicle 100. And the control part 5 conveys the vehicle 100 by driving the driving | running | working motor 13 of the main-body part 1 in the state which floated the front side of the vehicle 100, and making the main-body part 1 drive | work.

  In order to lower the transported vehicle 100 and release the holding state by the arm portion 31, the above-described steps S4 and S5 may be performed in reverse time series.

According to the transport apparatus and the transport method of the present embodiment as described above, the rear arm portion 31b starts turning, which is set in front of the contact position A where the rear arm portion 31b is in a contactable posture. While being moved from position B to contact position A, it is turned from the retracted position to the contactable position. For this reason, the apparent turning area of the rear arm part 31b can be reduced, and the rear arm part 31b is more than the front wheel 200a (the wheel to be contacted) and the rear front wheel 200b (the obstacle on the rear side). ), The rear arm portion 31b can be inserted between the front front wheel 200a and the rear front wheel 200b.
Therefore, according to the transport device and the transport method of the present embodiment, it is possible to support transport of various vehicles, and in particular, the front front wheel of the vehicle composed of two wheels whose front wheels are close to each other in the front-rear direction is used as the arm portion. Can be held.

  As mentioned above, although preferred embodiment of this invention was described referring drawings, this invention is not limited to the said embodiment. Various shapes, combinations, and the like of the constituent members shown in the above-described embodiments are examples, and various modifications can be made based on design requirements and the like without departing from the gist of the present invention.

For example, in the above-described embodiment, the moving speed of the rear arm portion 31b is constant when the rear arm portion 31b is turned from the turning start position B to the contact position A and turned from the retracted posture to the contactable posture. The configuration for adjusting the turning speed has been described.
However, the present invention is not limited to this, and the rear arm portion 31b is turned from the retracted posture to the contactable posture while moving the rear arm portion 31b from the turning start position B to the contact position A. A configuration in which the turning speed of 31 is fixed and the moving speed is adjusted, or a structure in which the turning speed and the moving speed are adjusted may be adopted.

Moreover, in the said embodiment, the information regarding the wheel of the vehicle previously linked | related with the vehicle type information is memorize | stored in the memory | storage part 6, and the guidance person of a vehicle should just input only vehicle type information into the operation part 7 by this. did.
However, the present invention is not limited to this, and information related to vehicle wheels associated with the vehicle type information is not stored in the storage unit 6. Information may be directly input.

Moreover, in the said embodiment, the structure which makes the vehicle 100 provided with the rear front wheel 200b as an obstruction demonstrated as a conveyance object was demonstrated.
However, the present invention is not limited to this, and it is also possible to carry a vehicle having other components as obstacles and to carry a vehicle without obstacles.

Further, in the present invention, the front side and the rear side indicate the front and rear in the relative movement direction of the vehicle with respect to the transport device when the vehicle and the transport device are relatively moved in order to stop the vehicle in the stop area. .
That is, when the vehicle is moved backward with respect to the transport device in order to stop the vehicle in the stop area, the driver's seat side of the vehicle is the rear side in the present invention, and the opposite side of the vehicle driver's seat is the front side in the present invention.

It is a side view which shows schematic structure of the conveying apparatus of one Embodiment of this invention. It is a top view which shows schematic structure of the conveying apparatus of one Embodiment of this invention. It is a block diagram which shows the electrical connection relationship of the conveying apparatus of one Embodiment of this invention. It is a flowchart for demonstrating operation | movement of the conveying apparatus of one Embodiment of this invention. It is explanatory drawing for demonstrating operation | movement of the conveying apparatus of one Embodiment of this invention. It is explanatory drawing for demonstrating operation | movement of the conveying apparatus of one Embodiment of this invention. It is explanatory drawing for demonstrating operation | movement of the conveying apparatus of one Embodiment of this invention. It is explanatory drawing for demonstrating operation | movement of the conveying apparatus of one Embodiment of this invention. It is explanatory drawing for demonstrating operation | movement of the conveying apparatus of one Embodiment of this invention. It is explanatory drawing for demonstrating operation | movement of the conveying apparatus of one Embodiment of this invention. It is explanatory drawing for demonstrating operation | movement of the conveying apparatus of one Embodiment of this invention. It is explanatory drawing for demonstrating operation | movement of the conveying apparatus of one Embodiment of this invention. It is explanatory drawing for demonstrating operation | movement of the conveying apparatus of one Embodiment of this invention.

Explanation of symbols

  S ... Conveying device, 1 ... Main body, 2 ... Elevating part, 3 ... Holding part, 31 ... Arm part, 31a ... Front arm part, 31b ... Rear arm part, 4 ... Control panel 5 ... Control unit, 6 ... Storage unit, 7 ... Operating unit, 100 ... Vehicle, 200 ... Wheel, 200a ... Front front wheel (wheel) 200b ... Rear front wheel (obstacle) ... Abutting position (first position), B ... Turning start position (second position)

Claims (11)

A transport device for transporting a vehicle in which wheels are held by a holding unit,
A pair of arm portions that can be arranged on the front and rear sides of the wheel, and at least a rear arm portion that is an arm portion that can be arranged on the rear side of the wheel and a contactable posture in which the wheel can contact the wheel, The holding unit that is capable of turning between the retracted posture retracted from the movement area, and a control unit that controls the holding unit,
The control unit is set to the front side of the first position where the rear arm unit is in the contactable posture when the rear arm unit is turned from the retracted posture to the contactable posture. A transfer device that turns while moving the rear arm portion in the retracted position at the second position from the second position to the first position. When the vehicle has two wheels arranged close to each other in the front-rear direction,
The second position is set to a position where the rear arm part does not interfere with a rear wheel among the wheels when the rear arm part is turned at the second position.
The controller is configured to turn the rear arm so that the rear arm does not interfere with the wheels when the rear arm is moved from the second position to the first position. The transfer apparatus according to claim 1, wherein the moving operation is controlled.   The control unit moves the rear arm unit from the second position to the first position at a constant speed, and the rear arm unit does not interfere with the wheel at the turning speed of the rear arm unit. The conveying apparatus according to claim 2, wherein control is performed as follows. The controller is
Swivel the rear arm part continuously from the retracted posture until the tip of the rear arm part enters between the wheels,
The turning of the rear arm portion is stopped from the position where the tip of the rear arm portion enters between the wheels to the position where the rear arm portion does not interfere with the front wheel even when the rear arm portion is turned. ,
The rear arm is controlled so as not to interfere with the wheels by continuously turning to the contactable posture at a constant speed after the rear arm is moved to a position where the rear arm does not interfere. The conveying device according to claim 2 or 3.   The control unit is configured such that when the rear arm portion is continuously turned from the retracted posture until the front end portion of the rear arm portion enters between the wheels, the front end portion of the rear arm portion is the wheel. When the vehicle is located in front of the vehicle, the rear arm portion is relatively swiveled at a high speed, and the rear arm portion is relatively swiveled from the front of the wheel to a position where it enters between the wheels. The transfer device according to claim 4.   The control unit acquires information related to vehicle wheels stored in advance in a storage unit based on vehicle type information input from the operation unit, and controls the holding unit based on the acquired information related to vehicle wheels. The conveying apparatus according to any one of claims 1 to 5. A transport method for transporting a vehicle in which wheels are held by a holding unit,
A pair of arm portions that can be arranged on the front and rear sides of the wheel, and at least a rear arm portion that is an arm portion that can be arranged on the rear side of the wheel and a contactable posture in which the wheel can contact the wheel, Using the holding part that is capable of turning between the retracted posture retracted from the moving area,
When the rear arm portion turns from the retracted posture to the contactable posture, the second position is set to the front side of the first position where the rear arm portion is in the contactable posture. And turning the rear arm portion in the retracted position while moving from the second position to the first position. When the vehicle has two wheels arranged close to each other in the front-rear direction,
The second position is set to a position where the rear arm part does not interfere with a rear wheel among the wheels when the rear arm part is turned at the second position.
When the rear arm is moved from the second position to the first position, the rear arm is turned and moved so that the rear arm does not interfere with the wheels. The transport method according to claim 7.   The rear arm portion is moved at a constant speed from the second position to the first position so that the rear arm portion does not interfere with the wheel at the turning speed of the rear arm portion. The transport method according to claim 8. Swivel the rear arm part continuously from the retracted posture until the tip of the rear arm part enters between the wheels,
The turning of the rear arm portion is stopped from the position where the tip of the rear arm portion enters between the wheels to the position where the rear arm portion does not interfere with the front wheel even when the rear arm portion is turned. ,
The rear arm is prevented from interfering with the wheels by continuously turning to the contactable posture at a constant speed after the rear arm is moved to the position where the rear arm does not interfere. The conveying method according to claim 8 or 9. When the rear arm portion is continuously turned from the retracted position until the front end portion of the rear arm portion enters between the wheels, the front end portion of the rear arm portion is positioned in front of the wheel. 11. The rear arm portion is relatively turned at a high speed in some cases, and the rear arm portion is relatively rotated at a low speed from a position in front of the wheel to a position where it enters between the wheels. Transport method.

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