JP2010036631A - Composition carriage truck facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To carry a large-sized carried article by using a plurality of trucks having a plurality of independent turning type wheel devices. <P>SOLUTION: One of the plurality of trucks is made to be a master truck MC, and others are made to be slave trucks SC. A steering controller M20 of the master truck MC is provided with a single-composition mode determining portion 32M determining a composition operation mode, a composition operation control portion 20C obtaining a composition turning center of a truck group from steering angles of steering wheels M3, S3 and computing a composition slave shaft target steering angle of each wheel device from the composition turning center, and a steering angle instructing portion M20B outputting steering instructions to the wheel devices. The slave truck SC has the steering instructing portion M20B outputting steering instructions to the wheel devices, and a transmitting cable 43A transmitting the composition target steering angle from the master truck MC to the steering angle instructing portion M20B of the slave truck SC. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a knitted conveyance carriage facility that conveys a large conveyance such as a hull block that cannot be conveyed by one carriage by a plurality of carriages.

A large transport such as a hull block cannot be transported by a single truck, and therefore, a plurality of trucks may be loaded and transported on a truck group arranged at a predetermined position.
As a conventional technique, for example, as shown in Patent Documents 1 and 2, there is one in which a carriage is connected to a rear portion of a towing vehicle via a link or a hinged rod. Since the position of the carriage with respect to each changes, it is difficult to transport a large transported object unless a special jig that supports the transported object around the vertical axis is used. Also, there are not so many opportunities to transport large transport items, and for this reason, it is too costly to newly manufacture a special large transport cart.

There is no conventional document that discloses a technique for loading and transporting large transported goods on a plurality of transport carts.
JP2006-224803 JP 2004-195997 A JP 2001-328555 A

  In view of this, the present applicant has proposed a transport carriage having a plurality of independently-converting wheel devices in which the steering angles of the wheels are respectively operated by the steering device in the driver's seat in Patent Document 3, and such transport It is conceivable to use a plurality of carts to transport large items.

  It is an object of the present invention to provide a knitted transport cart facility capable of smoothly transporting a large transported object using a plurality of self-propelled carts having a plurality of independent conversion wheel devices. To do.

  The invention according to claim 1 includes a steering angle operated by a plurality of independent conversion type wheel devices (MR1 to MR4, ML1 to ML4, SR1 to SR4, SL1 to SL4) and a steering device (M3, S3). Based on the operation control unit (M20A, S20A) for calculating the target rudder angle of the wheel device, and the rudder angle command unit (M20B, S20B) for steering by outputting the rudder angle command to the wheel device based on the target rudder angle, respectively. A trolley transportation system comprising a plurality of carts having a steering controller (M20, S20) having a One of them is a master cart (MC) that is driven mainly, and the other is a slave cart (SC) that is driven by the master cart (MC), and the steering controller (M20) of the master cart is used to A knitting mode determination unit (32M) that determines a knitting operation mode indicating the arrangement and a driving mode indicating the traveling direction of the carriage group. Based on the signal of the knitting mode determination unit (32M), the knitting turning center (OS1 to OS6) is obtained from the steering angle operated by the steering device (M3, S3), and the master cart and the slave trolley are determined from the knitting turning center. Steering transmission means provided with a knitting operation control unit (20C) for calculating the knitting slave axis target rudder angle of each wheel device, and transmitting the knitting slave axis target rudder angle from the master truck to the steering controller (S20) of the slave car (41A-41C, 42, 43A-43C), and the steering controller (S20) of the slave cart is a knitting slave input from the knitting operation control unit to the steering angle command unit (S20B) via the steering transmission means. Each wheel device is configured to be steered based on the shaft target rudder angle.

  According to a second aspect of the present invention, in the configuration of the first aspect, the steering transmission means is disposed on the plurality of master side connectors (41A to 41C) disposed on the master carriage (MC) and the slave carriage (SC). The slave side collector (42) and the transmission cable (43A to 43C) connecting the master side connector (41A to 41C) and the slave side collector (42) are connected to the transmission cable (43A to 43C). The knitting state detector (31) for detecting the master side connector (41A to 41C) is provided, and the knitting mode determination unit (32M) determines whether the operation is independent or knitting based on the detection signal of the knitting state detector. In addition, the knitting operation mode is determined.

  The invention according to claim 3 is the configuration according to claim 1 or 2, wherein the knitting operation mode is at least a tandem knitting mode in which a slave carriage (SC) is arranged in a tandem position with respect to a master carriage (MC); Parallel knitting mode in which the slave carriage (SC) is arranged in parallel with the master carriage (MC), and the slave carriage (SC) in the tandem position, the parallel position and the diagonal position with respect to the master carriage (MS). And a composite knitting mode arranged respectively.

  In addition, the code | symbol in a parenthesis is a code | symbol corresponding to embodiment, and is attached | subjected for reference. Note that overlapping symbols are omitted.

  According to the first aspect of the present invention, a plurality of carriages including a plurality of independent conversion type wheel devices are arranged at predetermined positions, and the knitting mode determination unit and the knitting operation control unit are provided to the steering controller of the master carriage. The knitting slave shaft target rudder angle of the wheel device of the master trolley and the slave trolley is calculated, and the knitting slave shaft target rudder angle is transmitted from the knitting operation control unit to the steering angle command unit of the slave trolley via the steering transmission means. Since each wheel device of the slave cart is steered, the master cart's knitting operation control unit steers each wheel device of the master cart and slave cart so that the cart group can go straight, turn, traverse It can be made to travel, and large transported goods can be transported smoothly.

  According to the second aspect of the present invention, the knitting state detector can detect the connection state of the transmission cable to the master side connector arranged on the master carriage, and the knitting mode determination unit can determine the knitting operation mode. Therefore, the steering control of the knitting conveyance can be automatically and quickly performed based on the position data of the cart and the wheel device in the knitting operation mode.

  According to the third aspect of the present invention, it is possible to automatically select at least the tandem knitting mode, the parallel knitting mode, and the composite knitting mode, and to automatically convey a large transported article.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Embodiment 1]
[Basic structure of trolley]
First, a stand-alone cart that is the basis of knitting conveyance will be described with reference to FIGS.

  As shown in FIG. 10, the cart C for single operation has a front driver's seat 2A and a rear driver's seat 2B at the front and rear positions on the lower surface of the cart body 1 on which the loading platform surface 1a on which an object is loaded is formed. Each is provided, and the engine 7 is arranged at the center of the lower surface. In addition, a plurality of sets, for example, four pairs in the front and rear, for example, a total of eight independent conversion type wheel devices R1 to R4, L1 to L4, are provided on the bottom surface of the cart body 1, and the driver seat 2A, The wheel devices R1 to R4 and L1 to L4 are steered via a steering controller 20 by a steering wheel 3 (FIG. 12) which is a steering device provided to 2B.

  As shown in FIG. 11, each of the wheel devices R1 to R4 and L1 to L4 includes a revolving body 11 that is supported by the carriage body 1 so as to be able to swivel about a slave shaft SS, and an upper portion that extends obliquely downward from the revolving body 11. A lower arm portion 13 supported by a lower end portion of the arm portion 12 via a horizontal pin 12a so as to be swingable up and down, a suspension cylinder 14 connected between the swing body 11 and the lower arm portion 13, and a lower arm portion 13 A plurality of wheels 17 that are rotatably supported by the axle 15 provided at the lower end of the vehicle via the rotary shaft 15 a and are driven to rotate by the drive motor 16, and the revolving body 11 that is provided on the carriage main body 1. And a steering drive device 18 that steers the wheel 17 about the slave axis SS. The steering drive device 18 is used for deceleration by a hydraulic steering motor 18a (FIG. 12) that is a turning drive device. And it is configured to rotate the swing body 11 via a gear unit. Moreover, as shown in FIG. 12, each wheel apparatus R1-R4, L1-L4 is provided with the steering angle detector 19 which detects the actual steering angle of the wheel 17, respectively.

  In addition to the steering wheel 4, the front and rear driver seats 2A, 2B are provided with a driver seat selection switch 5, a travel mode selection lever 6, a shift lever, an operation panel, etc. for setting the driver seats 2A, 2B. ing.

  The steering controller 20 of the cart C for single operation will be described with reference to FIGS. A steering controller 20 composed of a microcomputer is provided for each of the wheel controllers R1 to R4 and L1 to L4, and a steering control unit 20A for obtaining a slave shaft target rudder angle (target rudder angle) of the wheel apparatuses R1 to R4 and L1 to L4. A steering angle command unit 20B that outputs a steering command (steering angle command value) to each of the wheel devices R1 to R4 and L1 to L4. For example, when the front driver's seat 2A is selected by the driver's seat selection switch 5 and the straight traveling mode by the all-wheel switching method is selected by the traveling mode switching lever 6, the vehicle body passing through the center of the cart body 1 in the width direction. A (virtual) master axis MS is set between the front row wheel devices R1 and L1 (or the last row wheel devices R4 and L4) in the traveling direction on the central axis CL. This master axis MS serves as a reference for determining the turning center OS of the cart body 1.

  In the steering control unit 20A, the master axis target rudder angle calculation unit 21 calculates the master axis target rudder angle θm in the master axis MS based on the steering steering angle detected by the steering steering angle detector 4 in the front driver seat 12A. Calculate. Then, the turning center calculation unit 22 obtains the turning center OS of the cart body 1 based on the master axis target rudder angle θm. Here, the turning center OS in the straight traveling mode is set on the central transverse axis AL orthogonal to the vehicle body central axis CL of the carriage main body 1 at the center position in the front-rear direction of the carriage main body 1. Further, the slave axis target rudder angle calculation unit 23 calculates the slave axis target rudder angle based on the distance and angle from the turning center OS to the slave axis SS of each of the wheel devices R1 to R4 and L1 to L4.

  In the steering angle command unit 20B, the steering angle command value calculation unit 24 is based on the slave shaft target steering angle and the actual steering angle output from the steering angle detector 19 of each of the wheel devices R1 to R4 and L1 to L4. Then, the steering angle command value for turning the wheel 17 is calculated, and the steering angle command value output unit 25 operates the valve 17 for turning the wheel 17 via the hydraulic steering motor 18a based on the steering angle command value. The command values are obtained and output to the control valves 26, respectively, and the steering motor 18a is rotationally driven by a predetermined amount to steer the wheels 17 of the wheel devices R1 to R4 and L1 to L4 by a predetermined angle.

[Knit transportation cart equipment]
Next, the knitted transport cart facility according to the present invention will be described with reference to FIGS.
In the knitting conveyance in which a plurality of carts C are arranged at predetermined positions and large-sized articles are loaded and conveyed, one of the plurality of carts C is set as a master cart MC for main driving, and the rest is driven by the master cart MC. The slave cart SC or the first to third slave carts SC, SC1 to SC3 is used, and the master cart MC and the slave carts SC, SC1 to SC3 are interlocked to run integrally.

  Here, in the master cart MC and the slave carts S, SC1 to SC3, the reference numerals of the members common to the cart C for independent operation are indicated by M before the symbols for the master cart MC, and the slave carts SC, SC1. About -SC3, it adds and shows S before a code | symbol. Therefore, for example, the wheel devices of the master cart MC are MR1 to MR4, ML1 to ML4, and the wheel devices of the slave carts SC and SC1 to SC3 are SR1 to SR4 and SL1 to SL4.

(Knitting operation mode)
First, the basic knitting operation mode showing the arrangement of the carriages in the carriage group will be briefly described with reference to FIG. 1, FIG. 5 and FIG.

  FIG. 1 shows a tandem knitting mode, in which a slave cart SC driven in a driven manner with respect to a master cart MC is rearranged a predetermined distance on a knitting progression axis OCL (same as the vehicle center axis CL) passing through the center in the width direction of the cart group. It is arranged in the column position.

  FIG. 5 shows the parallel knitting mode, in which the slave carriage SC passes through the center of the carriage group with respect to the master carriage MC and passes through the center of the carriage group (perpendicular to the knitting progression axis OCL at the center of the carriage group in the longitudinal direction). It is arranged at a parallel position to the right of a predetermined distance on the OAL (same as the central transverse axis AL).

  FIG. 7 shows the composite knitting mode, in which the first slave carriage SC1 is arranged in a column position on the knitting progression axis OCL and the second slave carriage SC2 is placed in a parallel position on the knitting central transverse axis OAL with respect to the master carriage MC. The third slave carriage SC3 is arranged at a diagonal position of the master carriage MC (a parallel position of the first slave carriage SC1 or a vertical position of the second slave carriage SC2). These knitting operation modes are selected based on the size and shape of the conveyed item.

(Detection of knitting operation mode)
The master cart MC is provided with a plurality of master side connectors 41A to 41C for connecting transmission cables 43A to 43C for transmitting and receiving signals to and from the steering controllers S20 of the slave carts SC and SC1 to SC3. That is, it is arranged on the left side of the rear part of the cart main body M1, and is arranged on the right side of the front part of the cart main body M1 and the master side connector 41A for connecting to the slave cart SC (or the first slave cart SC1) in the column position. A master-side connector 41B for connecting to the slave cart SC (or the second slave cart SC2) in the parallel position, and a master for connecting to the third slave cart SC3 in the diagonal position disposed on the rear right side of the cart body M1. The master side connectors 41 </ b> A to 41 </ b> C and the steering controller M <b> 20 are connected by a connection cable 44. The transmission cables 43A to 43C are each composed of a communication cable and an emergency stop wiring.

  The slave carts SC, SC1 to SC3 are provided with a slave connector 42 connected to the steering controller S20 on the left side of the front of the vehicle body S1, and the slave connectors 41A to 41C are connected to the slave connectors 41A to 41C via transmission cables 43A to 43C. By connecting the side connector 42, steering control data and information data are mutually transmitted and received between the steering controller M20 of the master cart MC and the steering controller S20 of the slave carts SC, SC1 to SC3, and can be handled at the same time. An open field network (CC-Link) is formed. The transmission cables 43A to 43C, the master side connectors 41A to 41C, the slave side connector 42, the connection cable 44, and the like constitute a steering transmission means.

(Steering controller)
As shown in FIG. 2, the master cart MC is provided with a knitting state detector 31 for determining the single / knitting operation and detecting the knitting operation mode. The steering controller M20 includes a master-side single / knitting mode determination unit (knitting mode determination unit) 32M that determines the single / knitting operation and determines the knitting operation mode based on the detection signal of the knitting state detector 31; The knitting operation control unit 20C that calculates the knitting slave shaft target rudder angle that is the target rudder angle of the steering at the time of knitting, the steering control unit M20A for single operation, and the steering control unit M20A or the knitting operation control unit 20C A steering angle command unit M20B that outputs a steering angle command value to each of the wheel devices MR1 to MR4 and ML1 to ML4 based on the target steering angle is provided.

  The knitting state detector 31 detects the master side connectors 41A to 41C to which the transmission cables 43A to 43C are connected. In the single / knitting mode determination unit 32M, if the master side connector 41A is in the connected state, the knitting in the tandem When the master side connector 41B is in the connected state, it is determined as the parallel knitting mode, and when the master side connectors 41A to 41C are in the connected state, it is determined as the composite row knitting mode. The knitting state detector 31 applies, for example, a fixed voltage to the master side connectors 41A to 41C and measures each voltage of the master side connectors 41A to 41C with a voltmeter, so that the transmission cables 43A to 43C are It is possible to detect the master side connectors 41A to 41C that are connected and whose voltage drops.

  In the single / knitting mode determination unit 32M, signals of the knitting state detector 31, the traveling mode switching lever M6, and the driver seat selection switch M5 are input, and the single / knitting operation is determined by the detection signal of the knitting state detector 31. Further, the knitting operation mode is determined. When the single / knitting mode determination unit 32M determines the knitting operation mode, the steering steering angle detected by the steering steering angle detector M4 is determined from the single / knitting mode determination unit 32M to the knitting master of the knitting operation control unit 40. This is input to the shaft target rudder angle calculation unit 33.

  The knitting master axis target rudder angle calculation unit 33 calculates the knitting master axis target rudder angles θm1 to θm6 in the (virtual) knitting master axes MS1 to MS6 set in advance based on the steering angle and the travel mode. For example, in the tandem knitting mode, as shown in FIG. 4A, the (virtual) knitting master axis MS1 in the straight / slanting running mode is the front row wheel device MR1, ML1 in the forward direction on the knitting progression axis OCL. Set in the middle between. The knitting master axis MS2 in the transverse traveling mode is set at the center between the central wheel devices ML4 and SL1 in the foremost row in the forward direction of the transverse traveling mode on the knitting center transverse axis OAL.

  The steering controllers S20 of the slave carts SC, SC1 to SC3 include a slave-side single / knitting mode determination unit (knitting mode determination unit) 32S, a steering control unit S20A used during single operation, and steering control of the master cart MC. A steering angle command unit M20B that outputs a steering angle command value to each of the wheel devices SR1 to SR4 and SL1 to SL4 based on the knitting slave shaft target steering angle calculated by the part M20A or the knitting operation control unit 20C. Yes. The steering / steering angle detector S4, the driving mode switching lever S6, and the driver seat selection switch S5 are input to the single / composition mode determination unit 32S, respectively, and steering control is performed with the single / composition mode determination unit 32M. Configured to exchange data. For example, when the driver's seats S2A and S2B of the slave carts SC and SC1 to SC3 are selected, the steering steering angle data output from the steering steering angle detector S4 is alone / knitted from the master / knitting mode determination unit 32S. The data is transmitted to the mode determination unit 32M and controlled.

(Tandem organization mode)
The knitting conveyance cart equipment in the column knitting mode will be described with reference to FIGS.
In this tandem formation mode, the front driver's seat M2A of the master cart MC and the rear driver's seat S2B of the slave cart SC are set as selectable driver's seats, and visibility is easily secured corresponding to the travel mode and the travel direction. The side is selected. When moving forward in the straight traveling mode, the front driver's seat M2A of the master cart MC is selected, and the master cart MC and the slave cart SC are steered based on the operation of the steering wheel M3.

  As shown in FIG. 4A, when the straight traveling mode is selected, the knitting master axis target rudder angle calculation unit 33 obtains the knitting master axis target rudder angle θm1 in the knitting master axis MS1, and the knitting turning center calculation unit 34 Thus, the knitting turning center OS1 of the knitting carriage group is obtained on the knitting center transverse axis OAL based on the knitting master axis target rudder angle θm1. Then, the knitting slave axis target rudder angle calculation unit 35 determines the knitting slave axis target rudder angle from the position of the knitting turning center OS1 and the slave shaft SS of each of the wheel devices MR1 to MR4, ML1 to ML4, SR1 to SR4, SL1 to SL4. Calculate.

  As shown in FIG. 4B, when the transverse running mode is selected, the knitting master axis target rudder angle calculation unit 33 obtains the knitting master axis target rudder angle θm1 in the knitting master axis MS2, and the knitting turning center calculation unit 34, based on the knitting master axis target rudder angle θm1, the knitting turning center OS2 of the knitting carriage group is obtained on the knitting progression axis OCL. Then, the knitting slave axis target rudder angle calculation unit 35 determines the knitting slave axis target rudder angle from the position of the knitting turning center OS2 and the slave shaft SS of each of the wheel devices MR1 to MR4, ML1 to ML4, SR1 to SR4, SL1 to SL4. Calculate.

  The knitting slave shaft target rudder angle calculated by the knitting slave shaft target rudder angle calculating unit 35 is sent to the rudder angle command value calculating units M24 and S24 of the rudder angle command units M20B and S20B, and the rudder angle command value calculating units M24 and S24. Thus, the steering angle command value is calculated based on the knitting slave shaft target steering angle and the actual steering angle output from each of the steering angle detectors M19 and S19. Further, the steering angle command value output unit M25, S25 outputs the steering angle command value as a valve operation command value to the control valve 26. Based on this valve operation command value, the control valve 26 is operated to operate the steering motor 18a by a predetermined amount, and the wheels 17 of the wheel devices MR1 to MR4, ML1 to ML4, SR1 to SR4, SL1 to SL4 are respectively steered. Is done.

(Steering control in tandem mode)
Steering control in the tandem formation mode will be described with reference to FIGS.
When transporting a large transported object in the tandem knitting mode, the slave cart SC is arranged at a preset rear column position with respect to the master cart MC, and the master side connector 41A of the master cart MC and the slave side of the slave cart SC. The connector 42 is connected by the transmission cable 43A.

  When using the front driver's seat M2A of the master cart MC, the single / knitting mode determination unit 32M determines the tandem knitting mode based on the detection signal of the knitting state detector 31 (STEP.1), and single / knitting. A mode knitting mode signal is transmitted from mode judgment unit 32M to single / knitting mode judgment unit 32M of slave cart SC. Then, the steering angle transmitted from the steering angle detector M4 is output to the knitting operation control unit 20C.

  Further, the single / knitting mode determination unit 32M detects whether or not a driver seat switching operation signal is input from the driver seat selection switches M5 and S5 of the master cart MC or the slave cart SC (STEP.2). Is input, steering master angle presetting (STEP.3M) (STEP.3S) is performed on the master cart MC and the slave cart SC, respectively. Since this preset switches the knitting master axes MS1 and MS2 when the driver seat is switched, the actual steering angle of the knitting master axes MS1 and MS2 and the wheel devices MR1 to MR4, ML1 to ML4, SR1 to SR4 are changed from the state of the bogie main bodies M1 and S1. , SL1 to SL4 to correct the actual steering angle of the wheel 17 so as to match. Further, it is detected whether or not a driving mode switching operation signal is input from the driving mode switching lever M6 (STEP.4). If the driving mode switching operation signal remains in the straight traveling mode and is not input, the steering steering angle is subsequently continued. Whether or not the steering wheel M3 has been operated is detected by the detector M4 (STEP.5). If the steering wheel M3 is operated, the process returns to (STEP.4), and the steering wheel M3 is not operated. Calculates the knitting slave axis target steering angle (STEP.6). In the calculation of the knitting slave axis target rudder angle in (STEP.6), the knitting master axis target rudder angle θm1 in the knitting master axis MS1 is obtained by the knitting master axis target rudder angle calculating part 32M, and the knitting turning center calculating part 34 performs the knitting. The turning center OS1 is obtained, and the knitting slave axis target rudder angle calculation unit 35 calculates the knitting slave axis target rudder angle of each slave axis SS.

  In the steering angle command units M20B and S20B of the master cart MC and the slave cart SC, the steering angle command value is calculated based on the knitting slave shaft target steering angle and the actual steering angle by the steering angle command value calculation units M24 and S24. (STEP.7M) (STEP.7S), the steering angle command value output units M25 and S25 send the steering angle command values to the control valves M25 and S25, respectively (STEP.8M) (STEP.8S), and the wheel devices MR1 to MR4. , ML1 to ML4, SR1 to SR4, SL1 to SL4, respectively, to steer the wheel 17.

(Parallel knitting mode)
The parallel knitting mode will be described with reference to FIGS. In the parallel knitting mode, the front driver seat S2A of the slave cart SC or the rear driver seat M2B of the master cart SC is set to be selectable as the designated driver seat.

  In the parallel knitting mode, the knitting master axis MS3 in the straight / slave running mode is on the knitting progression axis OCL that runs vertically through the center in the width direction of the carriage group between the master carriage MC and the slave carriage SC. The knitting turning center OS3 is set at the center position between the wheel devices MR1 and SL1 in the foremost row of the carriage SC, and the knitting turning center OS3 is, as shown in FIG. Set on OAL.

  In the parallel knitting mode, the knitting master axis MS4 in the transverse running mode is set to the center position between the wheel devices ML3 and ML4 in the forefront on the knitting center transverse axis OAL, and the knitting turning center OS4 is As shown in 6 (b), it is set on the knitting progression axis OCL.

(Composite organization mode)
The composite knitting mode will be described with reference to FIGS. In the composite knitting mode, the front driver seat S2A of the second slave cart SC2 or the rear driver seat M2B of the first slave cart SC1 is set to be selectable as the designated driver seat.

  As shown in FIG. 8 (a), in the combined knitting mode, the knitting master axis MS5 in the straight traveling / slanting running mode is on the knitting progression axis OCL vertically running through the center of the carriage group, and the master carriage MC and the slave carriage SC. The knitting turning center OS5 is set between the master carriage MC and the second slave carriage SC2, and between the first slave carriage SC1 and the third slave carriage SC3. It is set on the knitting center transverse axis OAL that crosses the center of the group.

  In the combined knitting mode, the knitting master axis MS6 in the transverse running mode is set at the center position between the wheel devices ML4 and SL1 in the forefront on the knitting center transverse axis OAL, and the knitting turning center OS6 is knitting progress. Set on axis OCL.

(Other knitting modes)
In addition, various knitting operations can be performed depending on the shape and size of a large transported object. For example, as shown in FIG. 9 (a), the slave carriage SC can be arranged diagonally rearward with respect to the master carriage MC. In this case, the knitting progression axis OCL is at a position that traverses the center of the carriage group, and the knitting center transverse axis OAL is set at a position that traverses the center of the carriage group. The knitting master axis MSf in the straight traveling mode is set on the knitting progression axis OCL corresponding to the wheel device MR1 in the front row of the master carriage MC, and the knitting master axis MSs in the transverse traveling mode is the knitting central transverse axis. It is set corresponding to the wheel device SL1 in the front row on the OAL.

  Further, as shown in FIGS. 9B and 9C, the master cart MC and the first and second slave carts SC1 and SC2 may be arranged at the apex positions of triangles and irregular triangles. In this case, the knitting progression axis OCL is set to a position that traverses the center of the carriage group, and the knitting center transverse axis OAL is set to a position that crosses the center of the carriage group. The knitting master axis MSf in the straight traveling mode is set on the knitting progression axis OCL corresponding to the wheel device MR1 in the front row of the master carriage MC, and the knitting master axis MSs in the transverse traveling mode is the knitting central transverse axis. On the OAL, it is set corresponding to the front row wheel device SL1 or between the front row wheel devices MS4 and SL1.

  Further, as shown in FIGS. 9D and 9E, the master carriage MC and the first to third slave carriages SC1 to SC3 can be arranged at the apex positions of the rhombus and the parallelogram. In this case, the knitting progression axis OCL is set to a position that traverses the center of the carriage group, and is set to a position that crosses the knitting center transverse axis OAL and the center of the carriage group. Further, the knitting master axis MSf in the straight traveling mode is set corresponding to the front row of wheel devices MR1 and ML1 or between MR1 and SL1 on the knitting progression axis OCL, and the knitting master axis MSs in the transverse traveling mode is On the knitting center transverse axis OAL, it is set correspondingly between the wheel devices SL2 and SL3 in the foremost row.

  Furthermore, as shown in FIG. 9F, the master cart MC and the first to fourth slave carts SC1 to SC4 can be arranged at the apex position of the irregular pentagon.

It is a top view which shows embodiment of the knitting conveyance trolley equipment which concerns on this invention, and demonstrates parallel knitting mode. It is a block diagram which shows the control apparatus of knitting conveyance trolley equipment. It is a flowchart which shows the control procedure of the control apparatus of knitting conveyance trolley equipment. It is a top view which shows direction of the wheel by the steering of the column knitting mode, (a) shows a straight running mode, (b) shows a transverse running mode. It is a top view explaining parallel knitting mode. It is a top view which shows the direction of the wheel by the steering in parallel knitting mode, (a) shows a straight running mode, (b) shows a transverse running mode. It is a top view explaining composite knitting mode. It is a top view which shows the direction of the wheel by the steering of compound knitting modes, (a) shows a straight running mode and (b) shows a transverse running mode. It is a top view explaining other knitting operation modes, (a) is a knitting mode in which slave carts SC are arranged at diagonal positions, (b) and (c) are knitting modes in which triangles and irregular triangles are arranged at the vertex positions. , (D), (e) are knitting modes arranged at the vertex positions of parallelograms and rhombuses, and (f) is an unaligned knitting mode arranged at the vertex positions of irregular pentagons. It is a side view of the basic trolley. It is an enlarged side view of the wheel apparatus of a trolley | bogie. It is a block diagram which shows the control apparatus of a trolley | bogie. It is a schematic plan view explaining the steering of a trolley | bogie, (a) is a stop state, (b) shows a steering state.

Explanation of symbols

MC master cart SC, SC1 to SC3 Slave carts MR1 to MR4, ML1 to ML4 Wheel devices SR1 to SR4, SL1 to SL4 Wheel devices MS1 to MS6 Knitting master axis OCL Knitting progression axis OAL Knitting center transverse axis OS1 to OS6 Knitting turning center M2A , S2A Front driver seat M2B, S2B Rear driver seat M3, S3 Steering wheel (steering device)
M4, S4 Steering steering angle detector M5, S5 Driving seat selection switch M6, S6 Driving mode switching lever M20, S20 Steering controller M20A, S20A Driving control unit M20B, S20B Steering angle command unit 20C Knitting operation control unit M24, S24 Steering angle Command value calculation units M25, S25 Steering angle command value output unit 31 Knitting state detector 32M Single / knitting mode determination unit (knitting mode determination unit)
32S Independent / Knitting mode determination unit (Knitting mode determination unit)
33 Knitting master axis target rudder angle calculation unit 34 Knitting turning center calculation unit 35 Knitting slave axis target rudder angle calculation units 41A to 41C Master side connector 42 Slave side connectors 43A to 43C Transmission cable

Claims (3)

A plurality of independent conversion type wheel devices, an operation control unit for calculating a target rudder angle of the wheel device based on a steering angle operated by the steering device, and a rudder angle command based on the target rudder angle A trolley transportation system that forms a carriage group by a plurality of carriages each having a steering controller having a steering angle command unit that outputs and steers each of the trucks, and loads and transports a large carriage on the carriage group. ,
Among the plurality of carts, one is a master cart that is driven main, and the rest is a slave cart that is driven by the master cart,
Based on the signals of the knitting mode determination unit for determining the knitting operation mode indicating the arrangement of the trolleys of the bogie group and the travel mode indicating the travel direction of the trolley group, and the signal of the knitting mode determination unit. A knitting operation control unit that calculates a knitting turning center from the steering angle operated by the knitting operation, and calculates a knitting slave axis target rudder angle of each wheel device of the master carriage and the slave carriage from the knitting turning center,
A steering transmission means for transmitting the knitting slave axis target rudder angle from the master carriage to the steering controller of the slave carriage is provided,
The slave cart is configured to steer each wheel device based on a knitting slave shaft target rudder angle input from the knitting operation control unit to the rudder angle command unit via the steering transmission unit. The knitting transport cart equipment to be. The steering transmission means includes a plurality of master-side connectors arranged on the master carriage, a slave-side collector arranged on the slave carriage, and a transmission cable that connects the master-side connector and the slave-side collector,
A knitting state detector for detecting the master side connector to which the transmission cable is connected is provided.
The knitting conveyance according to claim 1, wherein the knitting mode determination unit is configured to determine whether the knitting operation mode is performed or not, based on a detection signal of the knitting state detector. Dolly equipment. The knitting operation mode is at least a tandem knitting mode in which slave trolleys are arranged in a tandem position with respect to a master trolley, a row knitting mode in which slave trolleys are arranged in parallel with respect to a master trolley, and a master trolley. The knitting / transporting trolley equipment according to claim 1 or 2, wherein the slave trolley is provided with a combined knitting mode in which each of the trolley trolleys is arranged in a column position, a parallel position, and a diagonal position.

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