JP2012121441A - Wheeled platform type carrier device and operation control method of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a carrier cart to be towed by a towing car to change its traveling direction without using another special device while minimizing an occupied floor area.SOLUTION: A wheeled platform type carrier device includes: a self-drivable towing car 1; and a carrier cart 2 towed by the self-drivable towing car 1 to be able to relatively turn around a vertical shaft body 25. The self-drivable towing car 1 is configured to be able to turn right and left around the vertical shaft body 25 with respect to the carrier cart 2, and the carrier cart 2 includes a pair of right and left direction fixed wheels 6 as back wheels. The self-drivable towing car 1 is stopped in a state where the carrier cart 2 reaches a dead end of a drive path, and then, the self-drivable towing car 1 is turned around the vertical shaft body 25 to a right-angled laterally facing position with respect to the carrier cart 2. Along with a forward traveling of the self-drivable towing car 1 in the right-angled laterally facing position, the carrier cart 2 is turned to a right-angled laterally facing position with respect to the drive path with a guiding center on a central position between the pair of right and left direction fixed wheels 6. Thereafter, the self-drivable towing car 1 is turned in a reverse direction around the vertical shaft body 25 with respect to the carrier cart 2 so as to set back in an original towing position.

Description

  The present invention relates to a trolley-type transfer device using a traction vehicle, which is a combination of a self-propelled tow vehicle and a transfer trolley connected to the tow vehicle, and a steering control method thereof.

  As described above in Patent Document 1, as a cart-type transport device using a tow vehicle as described above, a transport cart having a front wheel and a rear wheel, and a self-propelled tow vehicle that enters the lower side of the front end of the transport cart A trolley-type trolley-type transfer device using a vertical shaft body and a connecting hole that are fitted in the vertical direction on the lower side of the front end of the transfer trolley and the lower tractor. It has been known. In this type of transport device, the transport cart towed by the towing vehicle can travel along the turn path portion of the travel route along with the turning operation of the towing vehicle traveling in the left-right direction.

JP 2008-239080 A

  This type of transport device pulls a long, large transport cart carrying a car body and the like with a self-propelled tow vehicle that is sufficiently smaller than the transport cart. No matter how small the radius is, the towing vehicle pulls the long large conveyance cart while moving the conveyance cart along the turn path portion of the traveling route, so the turning radius of the conveyance cart becomes large. The turn route of the travel route occupies a large floor area. That is, in order to turn the transport cart that has traveled straight on the forward path portion into a posture at a right angle to the forward path portion, a turn path portion having a very large turning radius is required. When connecting the forward path part and the backward path part that are parallel to each other by combining the two parts so as to be continuous, the forward path part and the backward path part are greatly separated in parallel, A wasteful space with a large floor area is generated between the forward path part and the backward path part. In order to solve such a problem, it is necessary to install a traversable cart (traverser) having a large turntable capable of transferring both a towing vehicle and a transport cart instead of the turn path portion. The equipment cost was very high.

  The present invention proposes a steering control method for a trolley-type transfer apparatus capable of solving the conventional problems as described above, and the steering control method according to the present invention according to claim 1 In order to make it easier to understand the relationship with the embodiment described later, the reference sign used in the description of the embodiment is shown in parentheses to indicate a self-propelled tow vehicle (1) and the tow vehicle. (1) is composed of a transport carriage (2) that is pulled around a vertical shaft (25) so as to be rotatable relative to the vertical shaft (25). 25) is configured to be turnable to the left and right around, and the transfer carriage (2) is a carriage type transfer device having a pair of left and right orientation fixed wheels (6) as rear wheels. The tow truck (1) is stopped in a state where the end of the travel path has been reached, and then the tow truck (1) is transversely perpendicular to the transport carriage (2) around the vertical shaft (25). The transport carriage (2) is turned around the center position (virtual turning center S) between the pair of left and right fixed wheels (6) by the forward travel of the towing vehicle (1) in the right-and-left sideways posture. Turn to a right-and-left lateral posture with respect to the travel route as a center, and then turn the towing vehicle (1) in the opposite direction around the vertical shaft body (25) with respect to the transport carriage (2). It is characterized by returning to a pulling posture.

  According to the steering control method of the present invention described above, when the transport cart that is towed by the towing vehicle is turned to a right-angled horizontal posture, the center position (virtual position between the pair of left and right orientation-fixed rear wheels of the transport cart is determined. Without moving the turning center S) from the terminal position of the travel route in the turning direction, the transport carriage can be turned to a right-angled lateral posture. Accordingly, the traveling route of the transport carriage can be laid out so as to be bent at a right angle and in a horizontal direction without using a large arc-shaped turn route portion, and the corner portion has a right angle and a horizontal posture. It only requires an area in which the front conveying cart and the towing vehicle can turn around the central position (virtual turning center S) between the pair of right and left fixed rear wheels of the conveying cart. Therefore, compared with the conventional case where the tow truck is towed by a large arc-shaped turn path while towing the transport carriage, the floor carriage is used more efficiently compared to the case where the conveyor carriage is turned at a right angle to the side. It is possible to increase the work efficiency. Moreover, it is not necessary to use any special means other than the towing vehicle, and the equipment cost can be suppressed.

  According to the present invention, the entire conveying cart and the straight-running towing vehicle that pulls the carriage are moved forward and backward with only the towing vehicle relative to the conveying cart, and between the pair of right and left fixed wheels (rear wheels) of the conveying cart. The virtual turning center position between the pair of left and right direction fixed wheels (rear wheels) of the transport carriage is not substantially changed by the combination of turning the towing vehicle on a circular arc path concentric with the virtual turning center of Since the posture can be changed to a right-angled horizontal posture, a series of operations for changing the entire conveying cart and the straight-ahead towed vehicle pulling the carriage to a right-angled horizontal posture as described in claim 2 are performed. This is executed twice, and the rear end of the transport carriage is moved from the end position of the forward path section to the return path section while the entire direction of the transport cart and the straight-running towing truck towing it is changed by 180 degrees. Check for moving to the start position By incorporating the pulling operation of the transport carriage of the car, the direction of the entire transport cart and the tow truck in the straight running posture that pulls it is changed from the end position of the forward path section to the start position of the return path section by 180 degrees. You can transfer in the state.

  Therefore, the distance between the forward path portion and the backward path portion is determined by the distance that the transport carriage that has been switched to the right-angled horizontal posture at the end position of the forward route portion is caused to travel forward in the posture by the towing vehicle. It will be. In other words, the distance between the forward path portion and the backward path portion that are parallel to each other can be narrowed as long as the transport carriages that travel straight in opposite directions from each other do not interfere with each other. In addition, in the right angle connection path portion between the forward path portion and the reverse path portion, a transport carriage and a towing vehicle that travels in a right-angled lateral direction from the forward path portion include a rear end portion (left and right pair) of the transport cart. When the direction of the fixed turning wheel (the rear wheel) reaches the starting position of the return path section, it accepts the transport cart and the towing vehicle that project in a right-angled lateral direction from the return path section. Space that protrudes at right angles and sideways as much as possible is required, but even if this space is included, it is compared with the turning space required when making a U-turn while pulling a long and large conveyance cart with a towing vehicle The floor area required for the turn portion between the outbound route portion and the return route portion is significantly reduced, which helps to increase the use efficiency of the floor surface.

  When carrying out the above-described method of the present invention, the cart-type transfer device according to claim 3, that is, a front wheel (5) composed of a free wheel and a rear wheel composed of a pair of left and right orientation fixed wheels fixed in a straight forward direction ( 6) and a self-propelled towing vehicle (1) whose rear end enters the lower side of the front end of the transport cart (2), and is below the front end of the transport cart (2). And a lower traction vehicle (1), a trolley type using a traction vehicle provided with a connecting means (41) composed of a vertical shaft body (25) and a connection hole (52) that fit in the vertical direction. In the transport device, the towing vehicle (1) is a pair of left and right direction fixed drive wheels (7a, 7b) fixed in a straight direction, and these fixed direction drive wheels (7a, 7b) in each direction forward and reverse. A pair of left and right motors (19a, 19b) for driving and a free wheel (8) located behind the pair of left and right direction fixed drive wheels (7a, 7b), and a pair of left and right drivers of the towing vehicle (1). When the wheels (7a, 7b) are driven in opposite directions, the vertical shaft body (41) of the connecting means (41) is moved only to the towing vehicle (1) at least at a right-and-left lateral posture with respect to the transport carriage (2). 25) a cart-type transport device having a configuration in which the front wheel (5) of the transport cart (2) is arranged behind the rotation locus of the towing vehicle (1) at this time. By using it, the method of the present invention can be carried out easily and reliably.

FIG. 1A is a plan view of a transport cart with a tow vehicle, and FIG. 1B is a side view showing the transport cart with a tow vehicle in a transport path. FIG. 2A is a plan view of the tow vehicle with the upper cover plate removed, and FIG. 2B is a longitudinal side view of the tow vehicle. FIG. 3 is a front view of a transport carriage with a towing vehicle. FIG. 4 is a longitudinal front view at the driving wheel position of the transport carriage with a towing vehicle. FIG. 5 is a longitudinal rear view at the free wheel position of the transport carriage with a towing vehicle. FIG. 6A is a plan view of the transport cart with the upper cover plate removed, and FIG. 6B is a side view of the transport cart. FIG. 7 is a plan view showing a connected portion of the transport carriage. FIG. 8 is a longitudinal sectional front view showing a connected portion of the transport carriage. FIG. 9 is a longitudinal sectional front view of the main part showing a state immediately before the coupled shaft body of the transport carriage is fitted to the towing vertical shaft body of the towing vehicle. FIG. 10 is a longitudinal front view of the main part showing a state where the coupled shaft body of the transport carriage is fitted to the vertical shaft body for towing of the towing vehicle. FIG. 11 is a longitudinal sectional front view of the main part showing a state where the towing vehicle is lifted on the conveyance carriage side. FIG. 12 is a side view of the main part showing a state in which the towing vehicle is lifted on the conveyance carriage side. FIG. 13A is a plan view of a main part showing a state during maintenance work for the rear half of the tow vehicle, and FIG. 13B is a plan view of a main part showing a state during maintenance work for the front half and the rear half of the tow truck. FIG. 14 is a schematic plan view for explaining the movement of the transport carriage with a tow truck in the first half when turning the transport carriage with a tow truck from the forward path section parallel to the return path section. FIG. 15 is a schematic plan view for explaining the movement of the transport carriage with a tow vehicle in the latter half of the same.

  In FIG. 1, reference numeral 1 denotes a tow vehicle, and 2 denotes a transport cart towed by the tow vehicle 1. The transport carriage 2 includes a pair of left and right front transport object supports 3 that support the front end side of a transported object W such as an automobile body, and a pair of left and right rear transport covers that support the rear end side of the transported object W. A transported object support 4 is projected, and at the bottom, a pair of left and right front universal wheels 5 positioned near the lower side of the front transported object support 3 and the lower vicinity of the rear transported object support 4 A pair of left and right rear-side fixed wheels 6 that are positioned and fixed in the forward direction are provided. The towing vehicle 1 can travel forward on the lower side of the transport carriage 2 via a pair of left and right front transport object supports 3 and a pair of left and right rear transport object supports 4. A pair of left and right drive wheels 7a, 7b, which have a flat low floor structure with limited height and width, and whose directions are fixed in the forward direction and can be driven separately, are near the center position in the length direction. In addition to being provided, a universal wheel 8 is provided at the center in the width direction near the rear end.

  The detailed structure of the towing vehicle 1 will be described with reference to FIGS. 2, 4 and 5. As shown in FIG. 2, the body 1A of the towing vehicle 1 includes a plurality of vertical frame members 9a and 9b on both right and left sides. Are connected by the horizontal frame members 10a to 10d, and a narrow U-shaped frame 11 protrudes rearward from the rear end horizontal frame member 10d, and includes a front end horizontal frame member 10a and a second horizontal frame member 10b. A bottom plate 14 forming a control device storage space 13 for storing the control device 12 is stretched between the vertical frame members 9a and 9b between the third frame member 10c and the rear end frame member 10d. Between the vertical frame members 9a and 9b, a bottom plate 17 that forms a battery storage space 16 for storing a plurality of batteries 15 is stretched. Between the second horizontal frame member 10b and the third horizontal frame member 10c, a pair of left and right drive unit mounting members 18a along the vertical frame members 9a and 9b above the horizontal frame members 10b and 10c. 18b is installed on both drive unit mounting members 18a and 18b from the drive wheels 7a and 7b and motors 19a and 19b with speed reducers for driving the drive wheels 7a and 7b in the forward and reverse arbitrary directions. The drive units 20a and 20b are attached so that the pair of left and right drive wheels 7a and 7b are symmetrical with respect to the center line of the body 1A.

  Between the horizontal frame member 10d at the rear end of the airframe 1A and the rear end portion of the U-shaped frame 11, a support plate 21 is installed in the front-rear direction on the upper side of the horizontal frame member 10d and the U-shaped frame 11. The wheel 8 has a vertical rotating shaft 22 supported on the lower side of the support plate 21 so as to be able to rotate about a vertical axis, and on the left and right sides of the lower end of the vertical rotating shaft 22 on the center line of the airframe 1A. It consists of a pair of left and right idle wheels 23a, 23b that are pivotally supported so as to be symmetrical with respect to the left and right.

  Between the second horizontal frame member 10b and the third horizontal frame member 10c of the airframe 1A, a central vertical length in the front-rear direction so as to follow the center line of the airframe 1A between the pair of left and right drive units 20a and 20b. A frame member 24 is installed on the upper side of the central vertical frame member 24 at an intersection where the common axis of the drive wheels 7a and 7b of the left and right drive units 20a and 20b intersects with the center line of the airframe 1A in plan view. A traction vertical shaft body 25 is concentrically provided through a mounting seat 25 a and a mounting seat plate 26 at the lower end of the traction vertical shaft body 25. As shown in FIGS. 2A and 11, the mounting seat plate 26 has vertical screw holes 27a and 27b extending over the lower central vertical frame member 24 in a longitudinally symmetrical position with respect to the pulling vertical shaft body 25, respectively. Is provided.

  In addition, on the front side of the front frame member 10a of the airframe 1A, an obstacle collision detection edge switch 28 having a length capable of covering the entire lateral width of the airframe 1A for detecting a collision with another object, and in a predetermined front area. An obstacle sensor 29 for detecting the obstacle is attached. Further, cover plates 30a to 30d are screwed to the entire upper side of the machine body 1A. These cover plates 30a to 30d are free from at least a front half region and a rear half region of the control device storage space 13, a central region between the horizontal frame members 10b and 10c in which the drive units 20a and 20b are disposed, and the battery storage space 16. The wheel 8 is divided for each region including the rear end portion, and is screwed so that it can be attached and detached separately. The cover plate 30c in the central region is provided with an opening through which the pulling vertical shaft body 25 passes and protrudes upward.

  Next, the detailed structure of the transport carriage 2 will be described with reference to FIGS. 6 to 10. The airframe 2A of the transport carriage 2 has a rectangular planar shape in the front-rear direction, and the vertical frame members 31a and 31b on both the left and right sides. Horizontal frame members 32a to 32g that connect and integrate the vertical frame members 31a and 31b to each other at a plurality of positions in the front-rear direction, and positions where the second and third horizontal frame members 32b and 32c are close to the vertical frame members 31a and 31b on the sides. Intermediate vertical frame members 33a and 33b, which are connected to each other at two left and right positions, and fourth and fifth horizontal frame members 32d and 32e, which are connected to each other on the center line of the machine body 2A, and sixth And the rear vertical frame members 32f and 32g are connected to each other at two positions on the left and right sides of the side frames near the vertical frame members 31a and 31b. Horizontal frame members 32d, 32e It said front conveyed object support 3 and the rear conveyed object support 4 to the left and right two places is projected. And between the two horizontal frame members 32c, 32d and the horizontal frame members 32e, 32f that are close to each other in parallel at two locations near the center, the vertical frame members 31a, 31b on the side are approached. Wheel mounting seats 34a, 34b and 35a, 35b are installed at the two left and right locations, and the pair of left and right front universal wheels 5 are attached to the lower side of the pair of left and right wheel mounting seats 34a, 34b on the front side. The left and right pair of rear-facing fixed wheels 6 are attached to the lower side of the pair of left and right wheel mounting seats 35a and 35b.

  Between the horizontal frame member 32a at the front end of the machine body 2A and the second horizontal frame member 32b, a pair of left and right vertical connecting members 36a, 36b at positions close to the center line of the machine body 2A, and both of these vertical connecting members 36a, A pair of left and right support plates 37a and 37b projecting from both the vertical connecting members 36a and 36b to the center line side of the machine body 2A are installed under the side of 36b. Both ends of the connecting plate 38 are mounted and fixed. Further, on the machine body 2A of the transport carriage 2, intermediate frames for supporting the left and right vertical frame members 31a and 31b, the front side horizontal frame member 32a, the second horizontal frame member 32b, and the transported object supports 3 and 4 are provided. A rectangular region (front end) surrounded by the frame members 31a to 32g with the upper surfaces of the two horizontal frame members 32d and 32e, the rear horizontal frame member 32g, and the vertical connecting members 36a and 36b at the front end exposed. The cover plates 39a to 39l that respectively cover the vertical connecting members 36a and 36b (except for the rectangular region between the vertical connecting members 36a and 36b) are detachably screwed. Further, an inter-machine cover plate 40 extending rearward over the entire width of the machine body 2A is mounted on the rear frame member 32g. This inter-machine cover plate 40 is formed such that the middle part in the front-rear direction protrudes in a mountain shape over the entire lateral width, and the height of the rear side is configured to be slightly higher than the height of the airframe 2A. Yes.

  As shown in FIGS. 7 to 10, the connecting means 41 between the towing vehicle 1 and the transport carriage 2 includes the towing vertical shaft body 25 protruding from the body 1 </ b> A of the towing vehicle 1 and the body 2 </ b> A of the transport carriage 2. A cylindrical lifting body 42 attached to the center position of the connecting plate 38 at the center of the front end of the lifting body 42, a connected shaft body 43 projecting downward from the lower end center of the lifting body 42, and a central hole of the lifting body 42 The compression coil spring 45 housed in the portion 44, the spring receiver 46 screwed into the screw hole portion 44a formed in the upper end region of the central hole portion 44 of the lifting body 42 so as to be adjustable in height, and the height adjustment to the lifting body 42 It is composed of a ring-shaped descent limit stopper 47 that is fixedly attached.

  The cylindrical elevating body 42 has a screw shaft portion 42c on the outer peripheral surface from the large-diameter flange portion 42a at the lower end to the angular shaft portion 42b for rotational operation at the upper end, on the large-diameter flange portion 42a at the lower end. The towing vehicle lifting plate 48 is freely loosely supported around the lifting body 42, and a ring-shaped distance piece 49 is loosely supported on the towing vehicle lifting plate 48. And the ring-shaped distance piece 49 in the state where the ascending limit stopper 50 is formed, a screw hole 51 that vertically penetrates the screw shaft portion 42c of the elevating body 42 in the center of the connecting plate 38 on the body 2A side. The ring-shaped descent limit stopper 47 is screwed onto the screw shaft portion 42c of the elevating body 42 projecting upward from the connecting plate 38. The ring-shaped descent limit stopper 47 is rotated to adjust the height relative to the lifting body 42, and then the circumferential split portion is fastened with a fastening bolt 47a to reduce the diameter, thereby preventing the lifting body 42 from moving. Can be fixed.

  The connected shaft body 43 is received by the lower end of the central hole 44 of the elevating body 42 in the large-diameter flange portion 43a at the upper end, and the vertical shaft body 25 for towing on the towing vehicle 1 side is turned upward to be relatively rotatable. A connecting hole 52 that fits inside is concentrically cut from the lower end. The depth of the connecting hole 52 is set such that the bottom surface 52a facing downward contacts the pointed portion 25a of the pulling vertical shaft body 25 on the towing vehicle 1 side. The compression coil spring 45 is interposed between the spring receiver 46 and the coupled shaft body 43, and urges the coupled shaft body 43 downward by the compression reaction force. Thus, a square hole portion 46a for rotational operation is provided at the center of the upper surface of the spring receiver 46, and the height of the lifting coil 42 is adjusted by rotating the spring receiver 46, whereby the compression coil spring 45 is located. The initial compression force can be adjusted.

  The towing vehicle lifting plate 48 that is loosely supported by the lifting body 42 and constitutes a part of the ascending limit stopper 50 is a through-hole 48a that penetrates perpendicularly to both ends projecting to the front and rear sides of the connecting plate 38 in plan view. , 48b are provided. The pair of through-holes 48 a and 48 b are in a connected state between the towing vehicle 1 and the transport carriage 2 in which the towing vehicle 1 side towing vertical shaft body 25 is fitted in the connecting hole 52 of the connected shaft body 43. A pair of front and rear vertical screw holes provided in the mounting seat plate 26 of the vertical shaft body 25 for traction on the traction vehicle 1 side by rotating the traction vehicle lifting plate 48 around the lifting body 42 as necessary. 27a and 27b can be matched with each other. The operation opening 53 on the upper side of the connecting means 41, that is, the operation opening at the upper end of the rectangular area surrounded by the front end, the second horizontal frame members 32a and 32b, and the pair of left and right vertical connecting members 36a and 36b. A removable cover plate 54 different from the cover plates 39a to 39l is placed on the portion 53.

  When connecting the tow truck 1 and the transport carriage 2 configured as described above, the cover plate 54 covering the rectangular area in which the connecting means 41 of the transport carriage 2 is installed is removed, as shown in FIG. Further, the lifting body 42 is rotated in the screw return direction by using the rotation operation angular shaft portion 42b at the upper end, and the lifting body 42 is moved to the ascending limit where the distance piece 49 of the ascending limit stopper 50 at the lower end contacts the connecting plate 38. The connection plate 38 is raised. At this time, the coupled shaft body 43 supported by the elevating body 42 is lowered to the lower limit position where the large-diameter flange portion 43a is supported by the bottom of the central hole 44 of the elevating body 42 by the urging force of the compression coil spring 45. The height on the floor surface of the lower end of the coupled shaft 43 at this time is the tip of the vertical shaft 25 for traction protruding from the upper side surface (the surface of the cover plates 30a to 30d) of the traction vehicle 1. It is comprised so that it may become a little higher than the height on the floor surface of the part 25a. In this state, the carriage 2 is placed so as to cover the towing vehicle 1 waiting on the floor surface, and the towing vehicle 1 is parallel between the front free wheel 5 and the rear-facing fixed wheel 6 of the carriage 2. The connected shaft body 43 which is pushed by hand so as to move relative to the base and protrudes from the lower end of the lifting body 42 held at the ascent end position on the transport carriage 2 side is connected to the vertical shaft body 25 for traction on the traction vehicle 1 side. The transport carriage 2 is stopped in a state of being directly above the pointed end portion 25a.

  Next, as shown in FIG. 10, the elevating body 42 is rotated in the screwing direction by using the rotation operation angular shaft portion 42 b at the upper end, and the elevating body 42 is lowered with respect to the connecting plate 38. As the elevating body 42 is lowered, first, the connecting hole 52 of the connected shaft body 43 is externally fitted to the pulling vertical shaft body 25 on the towing vehicle 1 side, and the pointed portion 25a of the pulling vertical shaft body 25 is connected to the connecting hole. Since the lowering of the connected shaft body 43 is stopped at the height that is in contact with the bottom surface 52a of 52, only the lift 42 is lowered with respect to the connected shaft body 43 thereafter. When the distance between the spring 43 and the spring receiver 46 is reduced, the compression coil spring 45 is compressed, and the compression reaction force acts downward on the towing vertical shaft body 25 on the towing vehicle 1 side via the connected shaft body 43. Will do. When the ascending / descending body 42 reaches the descending limit where the descending limit stopper 47 abuts on the upper side surface of the connecting plate 38 as shown in FIG. 10, the towing vehicle 1 side towing vertical shaft body 25 and the transport carriage Connection by fitting with the connection hole 52 on the second side is completed. At this time, the compression reaction force of the compression coil spring 45 of the connecting means 41 on the transport carriage 2 side is applied to the pair of left and right drive wheels 7a and 7b on the towing vehicle 1 side from the connected shaft body 43 to the towing vertical shaft body 25, It is transmitted downward to the drive wheels 7a, 7b via the body 1A of the tow vehicle 1, the drive unit mounting members 18a, 18b, and the motors 19a, 19b with reduction gears, and the ground pressure of the drive wheels 7a, 7b is increased. ing. When the connection between the towing vehicle 1 and the transport carriage 2 is completed, the removed cover plate 54 is put on the operation opening 53 on the upper side of the connection means 41 of the transport carriage 2 to cover it. .

  By connecting the tow truck 1 and the transport carriage 2 as described above, the ground pressure of the pair of left and right drive wheels 7a and 7b on the tow truck 1 side is increased by the compression coil spring 45 provided in the connection means 41 on the transport carriage 2 side. The ground pressure of the drive wheels 7a and 7b at this time, that is, the magnitude of the compression reaction force of the compression coil spring 45 can be adjusted by adjusting the height of the spring receiver 46 relative to the lifting body 42 or the connecting member 38. By adjusting the lower limit height of the lifting body 42 with respect to the height, that is, the height of the lower limit stopper 47 with respect to the lifting body 42, it can be arbitrarily adjusted within a certain range. The towing vehicle 1 can rotate with respect to the transport carriage 2 around the pulling vertical shaft 25 of the connecting means 41, but at the rear side of the rotation trajectory of the towing vehicle 1 with respect to the transport carriage 2 at this time, A pair of left and right front wheels 5 of the transport carriage 2 are disposed.

  Thus, by driving the pair of left and right drive wheels 7a and 7b of the tow truck 1 connected to the transport carriage 2 at a constant speed in the forward direction by motors 19a and 19b with speed reducers, the tow truck 1 moves straight. Then, the transport carriage 2 is towed by the pulling vertical shaft body 25 on the towing vehicle 1 side so as to be swingable in the left-right direction around the pulling vertical shaft body 25. Steering vehicle 1 can be steered freely by making a difference between the rotational speeds of the pair of left and right drive wheels 7a and 7b, so that the towing vehicle 1 and the transport carriage 2 to be pulled by the towing vehicle 1 are set on the floor surface. It is possible to travel along the travel route. At this time, since the ground pressure of the pair of left and right drive wheels 7a and 7b of the towing vehicle 1 is increased as described above, the transport carriage 2 temporarily loads a heavy transport object W such as an automobile body. Even in this case, the strength of the compression coil spring 45 in the connecting means 41 on the transport carriage 2 side can be increased so that the ground pressure corresponding to the traction load at this time can be generated in the pair of left and right drive wheels 7a and 7b. By setting the initial compressive stress, the transport carriage 2 can be reliably towed without causing the tow truck 1 to slip.

  As described above, the tow truck 1 can be towed by the tow truck 1 on a fixed travel route. However, the tow truck 1 is flat so that the entire tow truck 1 can travel between the transport carriage 2 and the floor surface. Since it is of a low floor structure, as shown in FIG. 1B, the front half of each towing vehicle 1 protruding forward from the front end of the towed carriage 2 enters the lower side of the preceding preceding carriage 2 and It is possible to run while maintaining a form in which the front and rear ends of the transport carriage 2 that are adjacent to each other and are pulled by the towing vehicle 1 are continuous with a small gap therebetween. At this time, the inter-machine cover plate 40 extending rearward from the rear end side of the machine body 2A of the immediately preceding transport carriage 2 covers the front end of the machine body 2A of the immediately subsequent transport carriage 2 and is adjacent to the front and rear. A gap between the machine bodies 2A of the transport carriage 2 is closed.

  Although it is the towing vehicle 1 which makes the conveyance carriage 2 tow as described above, when the motors 19a and 19b with speed reducers of the drive units 20a and 20b break down, the towing vehicle 1 is pulled manually or the conveyance carriage 2 Need to be moved to another place on the travel route. At this time, when the drive wheels 7a and 7b are in a locked state due to the configuration of the drive system of the drive wheels 7a and 7b, the train structure in which the tow vehicle 1 and the transport carriage 2 are coupled is manually operated. It cannot be moved. Even if the drive wheels 7a and 7b are free when the motors 19a and 19b with speed reducers are not energized and driven, when the train structure is moved manually, only the first half is a carriage. It is easier to operate the large transport carriage 2 from the surroundings than to operate the small tow truck 1 extending forward from 2.

  When falling into the above situation, as shown in FIGS. 7, 8, and 11, the cover plate 54 covering the operation opening 53 on the upper side of the connecting means 41 of the transport carriage 2 is removed, A hand is inserted from the space before and after the connection plate 38 surrounded by the horizontal frame members 32a and 32b, the support plates 37a and 37b, and the connection plate 38, and is freely rotatable on the large-diameter flange portion 42a at the lower end of the elevating body 42. The towing vehicle lifting plate 48 supported on the upper and lower bodies is rotated around the elevating body 42 so that the through holes 48a and 48b at both ends thereof face the space before and after the connecting plate 38, and the tow located below the connecting plate 38 A pair of front and rear vertical screw holes 27a, 27b and the through holes 48a, 48b of the mounting seat plate 26 for attaching the vertical shaft body 25 for traction of the vehicle 1 to the body 1A are positioned substantially concentrically. In this state, as shown in FIG. 11, bolts 55a and 55b inserted from above into the through holes 48a and 48b of the towing vehicle lifting plate 48 are screwed and connected to the vertical screw holes 27a and 27b on the towing vehicle 1 side. The lifting body 42 is lifted up integrally with the lifting body 42 by rotating the lifting body 42 in the screw return direction and raising the lifting body 42 with respect to the connection plate 38 as in the preparation stage of the connection with the transport carriage 2. Via the vehicle lifting plate 48 and the two bolts 55a and 55b, the vicinity of the center in the length direction where the driving wheels 7a and 7b of the towing vehicle 1 are arranged can be lifted to the transport carriage 2 side.

  As is clear from the above description, in this embodiment, the towing vehicle lifting means 56 provided on the transport carriage 2 is a lifting body 42 that constitutes a connecting means 41 that connects the towing truck 1 and the transport carriage 2, A towing vehicle lifting plate 48 rotatably supported around the vertical axis of the elevating body 42, vertical screw holes 27a and 27b provided on the body 1A side of the towing vehicle 1, and the towing vehicle. It comprises bolts 55a and 55b that pass through the lifting plate 48 downward and are screwed to the vertical screw holes 27a and 27b.

  As shown in FIG. 2, the towing vehicle 1 is provided with a towing vertical shaft body 25 and a pair of left and right drive wheels 7a and 7b in the vicinity of the center in the length direction, and the drive units 20a and 20b behind the position. The battery housing space 16 loaded with the motors 19a, 19b with the speed reducer and the battery 15 is disposed, and the free wheel 8 is disposed at the rear end. Therefore, the center of gravity of the body 1A is located more than the vertical shaft body 25 for traction. Located on the rear end side. Accordingly, when the two front and rear parts of the vertical shaft body 25 for towing of the towing vehicle 1 are lifted by the bolts 55a and 55b from the conveying carriage 2 side, the towing vehicle 1 has the free wheel 8 at the center position of the rear end as shown in FIG. The pair of left and right drive wheels 7a and 7b are lifted from the floor surface by tilting forward to the fulcrum. The towing vehicle lifting plate 48 that lifts the towing vehicle 1 via the bolts 55a and 55b is rotatable around the elevating body 42, and the towing vehicle 1 side towing vertical shaft 25 is connected to the elevating body 42. The towing vehicle 1 that is lifted and grounded only at the rear end of the free wheel 8 is fitted to the connecting hole 52 that is concentrically arranged. You can rotate around. Accordingly, the periphery of the transport carriage 2 can be pushed in any direction, and the transport carriage 2 together with the towing vehicle 1 can be easily moved out of the travel route.

  In the state where the tow truck 1 and the transport carriage 2 are connected as described above, the rear half portion of the tow truck 1 including the battery storage space 16 enters the lower side of the transport carriage 2. 13, among the cover plates 39a to 39l covering the upper surface of the transport carriage 2, a rectangular region surrounded by the horizontal frame members 32b and 32c and the intermediate vertical frame members 33a and 33b of the machine body 2A, that is, the bottom The cover plate 39d is removed by removing the cover plate 39d that covers a rectangular region that is located directly above the battery storage space 16 of the tow truck 1 and that has a larger planar area than the battery storage space 16. The cover plate 30d covering the battery storage space 16 of the towing vehicle 1 is removed through a rectangular opening having a large removal mark, and the battery storage space 16 is removed. Since the battery 15 can be released, the maintenance of the battery 15 can be easily maintained while remaining on the travel route without causing the towing vehicle 1 to be detached from the transport carriage 2 even when maintenance and inspection work of the battery 15 is required. Inspection work can be performed.

  Further, as described above, when each transport carriage 2 is tow-driven by the towing vehicle 1 in a continuous state in which the front and rear ends thereof are adjacent to each other on the travel route, the entire towing vehicle 1 is front and rear. It will be hidden under the transport carriage 2 adjacent to. Even in such a case, the horizontal frame members 32f and 32g and the intermediate vertical frame member of the body 2A among the cover plates 39a to 39l covering the upper surface of the preceding transport carriage 2 immediately before the front half of the towing vehicle 1 is covered. Covers a rectangular region surrounded by 33d and 33e, that is, a rectangular region located directly above the control device storage space 13 of the towing vehicle 1 located below and having a larger plane area than the control device storage space 13. By removing the cover plate 39k, the cover plates 30a and 30b covering the control device storage space 13 of the towing vehicle 1 are removed through the rectangular opening where the removal mark of the cover plate 39k is removed. Since the storage space 13 can be opened, the towing vehicle 1 remains on the travel route even when maintenance and inspection work of the control device 12 is required. Readily such as maintenance and inspection of the control device 12 can be performed.

  Next, as shown in FIGS. 14 and 15, the transport carriage 2 towed by the towing vehicle 1 through the connecting means 41 configured as described above is connected to the outward path section 57 and the return path section parallel to each other. Regarding the steering control method of the towing vehicle 1 in the turn part between the forward path part 57 and the backward path part 58 when circulating on a travel route having the path part 58, A steering procedure from the end position to the start position of the return path section 58 will be described as an example. The steering procedure from the end position of the return path section 58 to the start position of the outbound path section 57 is exactly the same except that the direction is different, and the description thereof will be omitted.

  As shown in FIG. 14, the end of the forward path portion 57 and the start end of the return path portion 58 are connected to each of these path portions by a right angle connection path portion 59 that is perpendicular to the right side. Thus, the virtual turning center S between the pair of left and right rear-facing fixed wheels 6 of the transport cart 2 to which the towing vehicle 1 is towed is positioned at the intersection of the forward path portion 57 and the right-angle connection path portion 59. When the vehicle reaches the fixed position P1, the towing vehicle 1 is stopped. Next, the pair of left and right drive wheels 7a and 7b of the tow truck 1 are rotationally driven in directions opposite to each other so that only the tow truck 1 is moved around the towing vertical shaft body 25 of the connecting means 41 with the transport carriage 2. The return path 58 is turned to the side. When the tow vehicle 1 turns 90 degrees from the straight towing posture 1X with respect to the transport carriage 2 and reaches the second fixed position P2 in the right-angled lateral orientation 1Y with respect to the transport carriage 2, the turning operation of the tow truck 1 is performed. Stop. Next, when the pair of left and right drive wheels 7a and 7b are driven in the same direction so that the towing vehicle 1 travels forward in a right-angled lateral orientation 1Y, the transport cart 2 has the front wheels as the free wheels 5 but the rear wheels are in the straight direction. Since the pair of left and right direction fixed wheels 6 are fixed to each other, the towing vehicle 1 is turned around the virtual turning center S without substantially moving forward with respect to the right-angle sideways traveling. Since the towing vehicle 1 is allowed to travel forward, as a result, the towing vehicle 1 is on the side where the retrograde path portion 58 is located on the 90-degree arc path portion 60 concentric with the virtual turning center S of the transport carriage 2. The carriage 2 is turned around the virtual turning center S to the side where the return path portion 58 is located. Of course, in order to accurately execute the turning motion of the transport carriage 2, in other words, in order to cause the towing vehicle 1 to turn accurately on the 90-degree arc path portion 60, a pair of left and right drives of the towing vehicle 1 are driven. The wheels 7a and 7b may be driven with a speed difference instead of the same speed.

  As a result of the steering operation of the towing vehicle 1, the towing vehicle 1 arrives at the third fixed position P3 where the direction of the transport carriage 2 that was in the straight traveling posture 2X parallel to the forward path portion 57 is switched to the right-angled horizontal posture 2Y. Then, the traveling of the tow vehicle 1 is stopped, and then the pair of left and right drive wheels 7a and 7b of the tow vehicle 1 are rotated forward and backward so that the rotation direction is opposite to that at the time of the forward / reverse rotation driving performed previously. The towing vehicle 1 is rotated 90 degrees around the towing vertical shaft 25 of the connecting means 41 with the transporting carriage 2 and 90 degrees in the direction opposite to the direction in which the transporting carriage 2 has swung. The vehicle is stopped at the fourth fixed position P4, and the traction vehicle 1 is returned to the original straight-traction traction posture 1X with respect to the transport carriage 2. The forward / reverse turning movement between the straight pulling posture 1X and the right-angled horizontal posture 1Y of the towing vehicle 1 with respect to the transport carriage 2 is changed to the left and right symmetrical positions of the pulling vertical shaft body 25 of the connecting means 41 with the transport carriage 2. Separately, the drive wheels 7a and 7b that can be driven forward and backward are provided, the ground movement resistance of the transport carriage 2 on which heavy objects such as an automobile body are loaded, and the rear wheels of the towing vehicle 1 are towed. By comprising one universal wheel 8 on the front-rear direction center line of the vehicle 1, smooth and reliable operation is performed. Of course, the rear wheel of the towing vehicle 1 may be composed of a pair of left and right universal wheels.

  By the steering operation for the towing vehicle 1, the transport carriage 2 and the towing vehicle 1 that pulls the towing vehicle 1 turn 90 degrees around the intersection of the end of the outward path portion 57 and the right-angled connection path portion 59, Since the posture is switched to a right-angled lateral orientation with respect to the row path portion 57, the towing vehicle 1 is thereafter caused to travel straight on a straight path portion 61 on an extension line of the right-angle connection path portion 59, as shown in FIG. At the same time, when the virtual turning center S of the towed carriage 2 reaches the fifth fixed position P5 located on the intersection of the right-angled connection path portion 59 and the return path portion 58, the towing vehicle 1 is stopped. Thereafter, the same operation as the series of steering operations performed to switch the transport cart 2 and the towing vehicle 1 stopped at the first fixed position P1 on the terminal end side of the forward path portion 57 to the right-angled horizontal posture. The directional operation is performed on the towing vehicle 1, the turning movement of the towing vehicle 1 with respect to the transport carriage 2 from the fourth fixed position P4 to the sixth fixed position P6, the sixth fixed position P6 to the seventh fixed position P7 of the towing vehicle 1 To the transport carriage 2 from the seventh fixed position P7 to the eighth fixed position P8 of the towing vehicle 1 and turning on the 90-degree arc path portion 62 concentric with the virtual turning center S of the transport cart 2 By the turning motion, the transport carriage 2 can be switched to the straight traveling posture 2X parallel to the backward path portion 58, and the towing vehicle 1 can be switched to the straight forward pulling posture 1X parallel to the backward route portion 58. Accordingly, the towed carriage 2 can be caused to travel straight on the return path 58 by causing the towing vehicle 1 in the straight towing posture 1X to travel forward.

  That is, the transport cart 2 in the straight traveling posture 2X and the entire towing vehicle 1 in the straight traveling pulling posture 1X that pulls it are moved forward and backward by only the pulling vehicle 1 with respect to the transport cart 2 and the virtual turning center S of the transport cart 2 The trolley 1 is rotated at right angles without substantially changing the position of the virtual turning center S of the transport trolley 2 by the combination of turning the towing vehicle 1 on the concentric 90-degree arc path portions 60 and 62. Since the tractor 1 can be maintained in the straight traction posture 1X with respect to the conveyance carriage 2 while being changed to the horizontal orientation 1Y, the conveyance carriage 2 and the traction vehicle 1 that pulls the carriage 2 are brought into a right-angled lateral orientation. While performing a series of operations for changing twice to change the entire direction of the transport carriage 2 and the towing vehicle 1 that pulls it, the position of the virtual turning center S of the transport carriage 2 is Outbound route part 5 Incorporating a transport carriage pulling operation of the tow truck 1 for linear movement on the right angle connection path section 59 between the end of the carriage path and the start end of the return path section 58, thereby pulling the transport carriage 2 and the towing truck pulling it. The entire vehicle 1 can be transferred from the end position of the forward path section 57 to the start position of the return path section 58 with the direction changed by 180 degrees.

  The steering operation for the towing vehicle 1 is performed by a conventionally known control means, that is, a means for detecting that a certain position of the towing vehicle 1 has reached the fixed positions P1 to P8, for example, the towing vehicle 1 travels. Thru the to-be-towed vehicle 1 side in order to detect the to-be-detected marker arrange | positioned in each fixed position P1-P8 on each path | route 57,58 and 60-62 to turn, and each said to-be-detected marker, It is possible to perform the operation automatically by using a combination of the above and a pulse encoder that separately detects the rotation amounts of the pair of left and right drive wheels 7a and 7b of the tow truck 1. Of course, the turning motion of the tow truck 1 relative to the transport carriage 2 can be automatically controlled using means for detecting a detected marker provided on the transport carriage 2 side with a sensor on the tow truck 1 side.

  In the present invention, the connecting means 41 for connecting the tow truck 1 and the transport carriage 2 is fitted with a vertical shaft body projecting on one of the tow truck 1 and the transport carriage 2 and the vertical shaft body. In this way, a conventionally well-known simple configuration including the connecting hole provided in the other of the towing vehicle 1 and the transport carriage 2 may be used. Of course, the towing vehicle lifting means 56 is not essential to the present invention and may be omitted.

  The trolley-type transfer device using the tow truck of the present invention is to pull the carrier truck loaded with the automobile body with a tow truck in an automobile assembly line having a parallel forward path section and a backward path section, It can be used as a transport device for transporting automobile bodies.

DESCRIPTION OF SYMBOLS 1 Towing vehicle 2 Conveying cart 5 Front free wheel 6 Backward fixed wheel 7a, 7b Drive wheel 8 Free wheel 12 Control device 13 Control device storage space 15 Battery 16 Battery storage space 19a, 19b Motor with reduction gear 25 Vertical shaft for towing Body 25a Pointed portion 26 Mounting seat plate 27a, 27b Vertical screw holes 30a-30d, 39a-391, 54 Cover plate 38 Connecting plate 40 Inter-machine cover plate 41 Connecting means 42 Lifting body 42a Large diameter flange portion 42b Angle for rotation operation Shaft portion 42c Screw shaft portion 43 Connected shaft body 43a Large diameter flange portion 44 Center hole portion 44a Screw hole portion 45 Compression coil spring 46 Spring receiver 46a Square hole portion 47 Lower limit stopper 48 Traction vehicle lifting plate 48a, 48b Through hole 49 Distance Peace 50 Ascent end stopper 51 G hole 52 Connecting hole 52a Bottom surface 53 Operation opening 55a, 55b Bolt 56 Towing vehicle lifting means 57 Forward path part 58 Reverse path part 59 Right angle connection path part 60, 62 90 degree arc path part 61 Straight path part P1 P8 Each fixed position that stops the towing vehicle

Between the horizontal frame member 10d at the rear end of the airframe 1A and the rear end portion of the U-shaped frame 11, a support plate 21 is installed in the front-rear direction on the upper side of the horizontal frame member 10d and the U-shaped frame 11. The wheel 8 is supported on the lower side of the support plate 21 so as to be able to rotate around a vertical axis and is symmetrically supported on both the left and right sides of the lower end portion of the vertical rotation shaft 22. It consists of a pair of left and right idle wheels 23a, 23b.

Between the second horizontal frame member 10b and the third horizontal frame member 10c of the airframe 1A, a central vertical length in the front-rear direction so as to follow the center line of the airframe 1A between the pair of left and right drive units 20a and 20b. A frame member 24 is installed on the upper side of the central vertical frame member 24 at an intersection where the common axis of the drive wheels 7a and 7b of the left and right drive units 20a and 20b intersects with the center line of the airframe 1A in plan view. The traction vertical shaft body 25 concentrically protrudes upward through a mounting seat 25 b formed integrally with the traction vertical shaft body 25 and a mounting seat plate 26 fixed on the central vertical frame member 24. It is installed. As shown in FIG. 11 , the mounting seat plate 26 is provided with vertical screw holes 27 a and 27 b over the lower central vertical frame member 24 at positions symmetrical with respect to the pulling vertical shaft body 25. ing.

Next, the detailed structure of the transport carriage 2 will be described with reference to FIGS. 6 to 10. The airframe 2A of the transport carriage 2 is a rectangular shape whose plan shape is long in the front-rear direction, and the vertical frame members 31a and 31b on both left and right sides. The horizontal frame members 32a to 32g for connecting and integrating the vertical frame members 31a and 31b to each other at a plurality of positions in the front-rear direction are close to the vertical frame members 31a and 31b on the side sides of the second and third horizontal frame members 32b and 32c. Intermediate vertical frame members 33a and 33b, which are connected to each other at two positions on the left and right sides, and intermediate vertical frame members 33c and 6 which connect the fourth and fifth horizontal frame members 32d and 32e to each other on the center line of the machine body 2A. Consists of intermediate vertical frame members 33d and 33e that connect the second and rear horizontal frame members 32f and 32g to each other at two positions on the left and right sides of the side frame members 31a and 31b. Horizontal frame material 32d, 3 The two left and right locations on e front conveyed object support 3 and the rear conveyed object support 4 is projected. And the said front side free wheel 5 is attached to two right and left places which approach the vertical frame materials 31a and 31b between the two horizontal frame materials 32c and 32d which are close to each other in parallel on the front side of the center portion, respectively. The rear-facing fixed wheels 6 are respectively attached to the two left and right positions approaching the vertical frame members 31a and 31b between the two horizontal frame members 32e and 32f that are close to each other and arranged in parallel on the rear side of the central portion. It has been.

As shown in FIGS. 7 to 10, the connecting means 41 between the towing vehicle 1 and the transport carriage 2 includes the pulling vertical shaft 25 projecting from the body 1 </ b> A of the towing vehicle 1 and the center of the front end of the transport carriage 2 . lift 42 of height adjustably mounted cylindrical center position of the connecting plate 38, the connecting shaft 43 projecting from the lower end center of the lift 42 downwardly, the central bore 44 of the lift 42 A compression coil spring 45, a spring receiver 46 screwed into a screw hole 44a formed in the upper end region of the central hole 44 of the lifting body 42 so as to be adjustable in height, and a height adjusting and fixing to the lifting body 42. It is comprised from the ring-shaped descent | fall limit stopper 47 attached to.

And forms a part are towing vehicle lifting plate 48 of the ascent limit stopper 50 is loosely fitted supported on the lifting body 42 is at both ends protruding front and rear sides of the connecting plate 38 in plan view, through the vertical directly through Holes 48a and 48b are provided. The pair of through-holes 48 a and 48 b are in a connected state between the towing vehicle 1 and the transport carriage 2 in which the towing vehicle 1 side towing vertical shaft body 25 is fitted in the connecting hole 52 of the connected shaft body 43. A pair of front and rear vertical screw holes provided in the mounting seat plate 26 of the vertical shaft body 25 for traction on the traction vehicle 1 side by rotating the traction vehicle lifting plate 48 around the lifting body 42 as necessary. 27a and 27b can be matched with each other. The operation opening 53 on the upper side of the connecting means 41, that is, the operation opening at the upper end of the rectangular area surrounded by the front end, the second horizontal frame members 32a and 32b, and the pair of left and right vertical connecting members 36a and 36b. A removable cover plate 54 different from the cover plates 39a to 39l is placed on the portion 53.

When connecting the tow truck 1 and the transport carriage 2 configured as described above, the cover plate 54 covering the rectangular area in which the connecting means 41 of the transport carriage 2 is installed is removed, as shown in FIG. Further, the lifting body 42 is rotated in the screw return direction by using the rotation operation angular shaft portion 42b at the upper end, and the lifting body 42 is moved to the ascending limit where the distance piece 49 of the ascending limit stopper 50 at the lower end contacts the connecting plate 38. The connection plate 38 is raised. At this time, the coupled shaft body 43 supported by the elevating body 42 is lowered to the lower limit position where the large-diameter flange portion 43a is supported by the bottom of the central hole 44 of the elevating body 42 by the urging force of the compression coil spring 45. The height on the floor surface of the lower end of the coupled shaft 43 at this time is the tip of the vertical shaft 25 for traction protruding from the upper side surface (the surface of the cover plates 30a to 30d) of the traction vehicle 1. It is comprised so that it may become a little higher than the height on the floor surface of the part 25a. In this state, the transport carriage 2 is pushed and moved so as to cover the towing vehicle 1 waiting on the floor, and the cover projecting from the lower end of the lifting body 42 held at the ascending limit position on the transport carriage 2 side. The transport carriage 2 is stopped in a state in which the connecting shaft body 43 is located immediately above the pointed portion 25a of the pulling vertical shaft body 25 on the towing vehicle 1 side.

Next, as shown in FIG. 10, the elevating body 42 is rotated in the screwing direction by using the rotation operation angular shaft portion 42 b at the upper end, and the elevating body 42 is lowered with respect to the connecting plate 38. As the elevating body 42 is lowered, first, the connecting hole 52 of the connected shaft body 43 is externally fitted to the pulling vertical shaft body 25 on the towing vehicle 1 side, and the pointed portion 25a of the pulling vertical shaft body 25 is connected to the connecting hole. Since the lowering of the connected shaft body 43 is stopped at the height that is in contact with the bottom surface 52a of 52, only the lift 42 is lowered with respect to the connected shaft body 43 thereafter. When the distance between the spring 43 and the spring receiver 46 is reduced, the compression coil spring 45 is compressed, and the compression reaction force acts downward on the towing vertical shaft body 25 on the towing vehicle 1 side via the connected shaft body 43. Will do. When the ascending / descending body 42 reaches the descending limit where the descending limit stopper 47 abuts on the upper side surface of the connecting plate 38 as shown in FIG. 10, the towing vehicle 1 side towing vertical shaft body 25 and the transport carriage Connection by fitting with the connection hole 52 on the second side is completed. At this time, the compression reaction force of the compression coil spring 45 of the connecting means 41 on the transport carriage 2 side is applied to the pair of left and right drive wheels 7a and 7b on the towing vehicle 1 side from the connected shaft body 43 to the towing vertical shaft body 25, It is transmitted downward via the airframe 1A of the towing vehicle 1, the drive unit mounting members 18a and 18b, and the motors 19a and 19b with speed reducers, and the ground pressure of the drive wheels 7a and 7b is increased. When the connection between the towing vehicle 1 and the transport carriage 2 is completed, the removed cover plate 54 is put on the operation opening 53 on the upper side of the connection means 41 of the transport carriage 2 to cover it. .

By the steering operation for the towing vehicle 1, the transport carriage 2 and the towing vehicle 1 that pulls the towing vehicle 1 turn 90 degrees around the intersection of the end of the outward path portion 57 and the right-angled connection path portion 59, Since the posture is switched to a right-angled lateral orientation with respect to the row path portion 57, the towing vehicle 1 is thereafter caused to travel straight on a straight path portion 61 on an extension line of the right-angle connection path portion 59, as shown in FIG. At the same time, when the virtual turning center S of the towed carriage 2 reaches the fifth fixed position P5 located on the intersection of the right-angled connection path portion 59 and the return path portion 58, the towing vehicle 1 is stopped. Thereafter, the same operation as the series of steering operations performed to switch the transport cart 2 and the towing vehicle 1 stopped at the first fixed position P1 on the terminal end side of the forward path portion 57 to the right-angled horizontal posture. The directional operation is performed on the towing vehicle 1, the turning movement of the towing vehicle 1 with respect to the transport carriage 2 from the fifth fixed position P5 to the sixth fixed position P6, the sixth fixed position P6 to the seventh fixed position P7 of the towing vehicle 1 To the transport carriage 2 from the seventh fixed position P7 to the eighth fixed position P8 of the towing vehicle 1 and turning on the 90-degree arc path portion 62 concentric with the virtual turning center S of the transport cart 2 the pivoting movement, the platform car 2 go-around path portion 58 and the tractor 1 the inbound path portion 58 and can be switch to parallel straight traction posture 1X with switched parallel straight posture 2X. Accordingly, the towed carriage 2 can be caused to travel straight on the return path 58 by causing the towing vehicle 1 in the straight towing posture 1X to travel forward.

That is, the transport cart 2 in the straight traveling posture 2X and the entire towing vehicle 1 in the straight traveling pulling posture 1X that pulls it are moved forward and backward by only the pulling vehicle 1 with respect to the transport cart 2 and the virtual turning center S of the transport cart 2 The trolley 1 is rotated at right angles without substantially changing the position of the virtual turning center S of the transport trolley 2 by the combination of turning the towing vehicle 1 on the concentric 90-degree arc path portions 60 and 62. Since the tractor 1 can be maintained in the straight traction posture 1X with respect to the conveyance carriage 2 while being changed to the lateral orientation 2Y , the conveyance carriage 2 and the traction vehicle 1 that pulls the carriage 2 are brought into a right-angled lateral orientation. While performing a series of operations for changing twice to change the entire direction of the transport carriage 2 and the towing vehicle 1 that pulls it, the position of the virtual turning center S of the transport carriage 2 is Outbound route part 5 Incorporating a transport carriage pulling operation of the tow truck 1 for linear movement on the right angle connection path section 59 between the end of the carriage path and the start end of the return path section 58, thereby pulling the transport carriage 2 and the towing truck pulling it. The entire vehicle 1 can be transferred from the end position of the forward path section 57 to the start position of the return path section 58 with the direction changed by 180 degrees.

Claims (3)

  It consists of a self-propelled towing vehicle and a transporting carriage that is towed relative to the vertical shaft body by the towing vehicle, and the towing car is moved left and right around the vertical shaft body with respect to the transporting carriage. The carriage is configured to be capable of turning, and the carriage has a pair of left and right fixed wheels as rear wheels.In the carriage type carriage, the tow truck is stopped in a state where the carriage has reached the end of the travel path, The towing vehicle is swung to a right-angled lateral attitude around the vertical shaft body with respect to the conveyance carriage, and the conveyance carriage is moved to a central position between the pair of right and left fixed wheels by the forward traveling of the right-angled lateral attitude. Is turned to a right-and-left lateral posture with respect to the travel route as a turning center, and thereafter, the towing vehicle is turned in the opposite direction around the vertical shaft body with respect to the transport carriage to return to the original towing posture. Features , Steering control method for a carriage-type conveying apparatus.   The travel route includes an outward route portion and a return route portion that are parallel to each other, and a right-angle connection route portion that connects a terminal end of the forward route portion and a start end of the return route portion, At the end of the wheel, the conveyance carriage is turned to a right-angled horizontal posture and the towing vehicle is returned to the original towing posture. Drive straight on the right-angled connection path until the center position reaches the return path, and then pull the same steering operation as when the carriage was turned to a right-angled horizontal posture at the end of the outbound path 2. The vehicle according to claim 1, wherein the vehicle is caused to execute, and the conveyance carriage is turned to a posture parallel to the return path portion at the start position of the return route portion, and the tow vehicle is returned to the original pulling posture. The steering control method of the cart type | formula conveying apparatus of description.   A transport carriage provided with a front wheel made up of a free wheel and a rear wheel made up of a pair of right and left fixed wheels fixed in a straight forward direction, and a self-propelled tow truck with at least the rear end side entering the lower side of the front end of the transport carriage In the trolley-type trolley-type transport device provided with a connecting means composed of a vertical shaft body and a connecting hole that are vertically fitted to each other on the lower side of the front end of the transport trolley and the lower tractor, The tow vehicle is composed of a pair of left and right direction fixed driving wheels fixed in a straight traveling direction, a pair of left and right motors for driving these direction fixed driving wheels in respective forward and reverse directions, and the pair of left and right direction fixed driving wheels. When the pair of left and right drive wheels of the towing vehicle are driven in the opposite directions, the towing vehicle only has at least a right-angled lateral attitude with respect to the transporting carriage when the pair of left and right driving wheels are driven in the opposite direction. Is configured to allow rotation about the body, the front wheel of the conveyance carriage from the rotation locus of the towing vehicle in this case on the rear side is disposed, tractor use of carriage-type conveyance device.

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