JP2018165188A - Horizontal conveying truck - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a horizontal conveying truck which has a lower center of gravity, can stably and horizontally convey an object to be conveyed, and is lightweight.SOLUTION: A horizontal conveying truck includes: a pedestal part 18; a truck body 12 having a driving wheel and a steering wheel; a fork lift 14 for loading/unloading an object to be conveyed from the outside to the pedestal part 18; an expanding and contracting mechanism 20 which expands and contracts the fork lift 14 in a front/back direction and a lifting mechanism 22 which is lifted up/down in a vertical direction; a scissors link mechanism 38 which supports the fork lift 14 from a lower side; and an omnidirectional movement wheel 40 which movably supports the scissors link mechanism 38 in an omnidirectional direction.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a horizontal conveyance carriage that horizontally conveys an object to be conveyed such as materials and equipment at a construction site or the like.

  Conventionally, in the construction industry, there has been a demand for automation of work in order to make up for the labor shortage. There are many cases in which a self-propelled carriage is used for automating material conveyance, and there is a tendency that a self-propelled carriage suitable for on-site conditions is adopted. As such a self-propelled cart, for example, a cart as shown in Patent Document 1 is known. This bogie is a scissor lift type self-propelled bogie that does not have a counterweight, and is designed to keep the weight of the bogie and the load within the floor load capacity of the construction site.

Japanese Patent Laid-Open No. 06-32227

  As described above, the cart of Patent Document 1 adopts the scissor lift method instead of the counterweight method in order to suppress the weight of the cart and the load within the load capacity of the floor. Since the horizontal transport operation is performed in a state where a transported object such as a material is left in the fork portion and lifted, there is a problem that the center of gravity is high and unstable, and the transport object is limited.

  For this reason, the lightweight trolley | bogie which has a low gravity center and can convey a to-be-conveyed object horizontally horizontally was calculated | required.

  This invention is made | formed in view of the above, Comprising: It aims at providing the lightweight horizontal conveyance trolley | bogie which has the low center of gravity and can convey a to-be-conveyed object horizontally.

  In order to solve the above-described problems and achieve the object, the horizontal transport cart according to the present invention is a horizontal transport cart for horizontally transporting the object to be transported, and a pedestal portion for depositing the transported product A trolley body having a driving wheel and a steering wheel, a forklift mounted on the trolley body for loading / unloading the object to be conveyed from the outside to the pedestal portion, and a telescopic mechanism for extending and retracting the forklift in the front-rear direction In order to prevent the forklift that lifts and lowers in the vertical direction and the forklift that is unloading / unloading the transported object from being cantilevered, it is provided between the floor and the forklift. A scissor-like scissor link mechanism to be supported and an omnidirectional moving wheel that supports the scissor link mechanism so as to be movable in all directions are provided.

  In addition, in the above-described invention, the other horizontal transport cart according to the present invention includes a self-position estimation unit that estimates the self-position of the cart body, a positional relationship recognition unit that recognizes a positional relationship between the self-position and the object to be transported, The apparatus further comprises control means for controlling the movement of the carriage main body by the driving wheels and the steering wheels and the operation of the forklift by the extension mechanism and the lifting mechanism based on the self position and the positional relationship.

  In addition, another horizontal transport cart according to the present invention is characterized in that, in the above-described invention, the control means is remotely controlled from the outside via a wireless or wired communication means.

  Moreover, the other horizontal conveyance trolley | bogie which concerns on this invention can be autonomously traveled, estimating a self-position based on drawing data showing the positional information on a construction site in the invention mentioned above.

  According to the horizontal transfer carriage according to the present invention, the horizontal transfer carriage for horizontally transferring the object to be transferred, the carriage main body having a pedestal portion for depositing the unloaded transfer article, and driving wheels and steering wheels. A forklift attached to the main body of the carriage for loading / unloading the object to / from the pedestal from the outside, an expansion / contraction mechanism for extending / contracting the forklift in the front / rear direction, and a lifting / lowering mechanism for moving up / down A scissor-like scissor link mechanism that is provided between the floor surface and the forklift to prevent the forklift during loading / unloading of goods from being cantilevered and supports the forklift from the lower side, and the scissor Since it has omnidirectional wheels that support the link mechanism so that it can move in all directions, it increases the stability of the forklift while avoiding an increase in the weight of the carriage. Door can be. For this reason, there is an effect that it is possible to provide a lightweight horizontal transport cart that can stably transport a transported object with a low center of gravity.

  Further, according to another horizontal transport cart according to the present invention, self-position estimation means for estimating the self-position of the cart body, positional relationship recognition means for recognizing the positional relationship between the self-position and the object to be transported, and the self-position Based on the positional relationship, it is further provided with control means for controlling the movement of the cart body by the drive wheel and the steering wheel and the operation of the forklift by the expansion / contraction mechanism and the lifting / lowering mechanism. There is an effect that it can be realized.

  Moreover, according to the other horizontal conveyance trolley | bogie which concerns on this invention, since a control means is remotely controlled from the outside via a wireless or wired communication means, there exists an effect that a horizontal conveyance trolley can be operated remotely. .

  In addition, according to another horizontal transport cart according to the present invention, it is possible to autonomously travel while estimating its own position based on the drawing data representing the position information of the construction site, so that autonomous travel of the horizontal transport cart is realized. There is an effect that can be.

FIG. 1 is a schematic perspective view (in the transfer mode) showing an embodiment of a horizontal transfer carriage according to the present invention. FIG. 2 is a schematic perspective view (at the time of unloading) showing an embodiment of a horizontal transport cart according to the present invention. FIG. 3 is a schematic perspective view (at the time of unloading) of the horizontal conveyance carriage shown in FIG.

  Hereinafter, an embodiment of a horizontal transport cart according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

  As shown in FIGS. 1-3, the horizontal conveyance trolley | bogie 10 which concerns on this invention is a trolley | bogie for carrying horizontally a load (conveyed object), such as materials and equipment, Comprising: The trolley | bogie main body 12 and the forklift 14 are included. Prepare. In each figure, the forklift 14 is shown by a dashed line instead of a solid line.

  The cart body 12 is a structure having a substantially L-shaped cross section in a side view, and includes a standing wall portion 16 and a pedestal portion 18. The cart body 12 includes an expansion / contraction mechanism 20 that expands and contracts the forklift 14 in the front-rear direction, and an elevating mechanism 22 that moves up and down in the vertical direction. The standing wall portion 16 is a wall-shaped portion that rises upward from the rear end of the pedestal portion 18. The pedestal portion 18 is a flat portion for depositing materials taken up by the forklift 14, and is separated into three pedestal portions 18A, 18B, and 18C on the left side, the center side, and the right side across the forklift 14. . Each of the pedestal portions 18A, 18B, and 18C can be loaded with three thick end corners of a material pallet (not shown) that is a conveyed object. Also, a twin-lens camera sensor 24 (positional relationship recognition means) is attached to the front end surface of the center base portion 18B. The two-lens camera sensor 24 is a camera sensor that calculates a relative distance and an angle with respect to a marker (not shown) attached to a conveyed object such as a material pallet or a material. By reading the marker with the binocular camera sensor 24, it is possible to detect the positional relationship (relative position) between the object to be transported and the cart body 12, and using this detection result, the correctness of the cart body 12 to the object to be transported can be detected. Pairing is possible.

  As shown in FIG. 3, electric drive steering wheels 26 and steering wheels 28 are provided on the four corners of the lower surface of the cart body 12. The drive steering wheels 26 are located on the rear left and right sides of the lower surface of the carriage main body 12 and are used to freely move the horizontal conveyance carriage 10 while supporting the load of the horizontal conveyance carriage 10 and the load loaded on the horizontal conveyance carriage 10. It is. The steered wheels 28 are located on the front left and right sides of the lower surface of the carriage main body 12 and are for moving the horizontal conveyance carriage 10 freely. The steering wheel 28, together with the drive steering wheel 26, supports the load on the horizontal conveyance carriage 10 and the load loaded on the horizontal conveyance carriage 10. In order to realize the free movement of the horizontal conveyance carriage 10, the steering wheel 28 and the drive steering wheel 26 are steered independently of each other.

  The forklift 14 is for unloading / unloading a load from a yard (not shown) to the horizontal transport carriage 10, and is attached to the carriage main body 12 via an expansion / contraction mechanism 20 and an elevating mechanism 22. This forklift 14 has two long box-like forks 32 arranged in parallel to the grooves 30 on both sides of the pedestal 18B on the center side and extending in the front-rear direction, and the rear ends of the forks 32 in an inverted U shape. The connecting frame 34 is connected to the telescopic mechanism 20 and the lifting mechanism 22.

  A scissor link mechanism 38 in which two link members 36 are assembled in a scissors shape (X shape) is provided below the fork 32. The scissor link mechanism 38 is for preventing the fork 32 of the forklift 14 from being in a cantilever state. Normally, when the fork 32 is in a cantilever state, a counterweight is required to prevent it from falling over when it is loaded. Thereby, a trolley | bogie weight increases and it may exceed the floor load capacity of the building where the horizontal conveyance trolley | bogie 10 is arrange | positioned. On the other hand, according to the present embodiment, since the fork work can be performed without the counterweight by the scissor link mechanism 38, the weight of the carriage can be reduced, and the horizontal conveyance carriage 10 can be applied without reinforcing the floor of the building. .

  An omnidirectional moving wheel 40 is attached to the lower part of the front end of one link member 36 of the scissor link mechanism 38. The omnidirectional moving wheel 40 is a non-driven wheel that supports the scissor link mechanism 38 so as to be movable in all directions, and can be constituted by, for example, an omni wheel (registered trademark). As this omni wheel, a known structure including a wheel body attached to an axle and a plurality of rotatable barrel rollers arranged at predetermined intervals along the circumferential direction of the peripheral surface of the wheel body is used. be able to. In this structure, the wheel main body can be rotated integrally with the axle in the direction of rotation of the axle, and can also be moved in the axial direction of the axle by the barrel roller.

  The omnidirectional moving wheel 40 supports a part of the upper load including the scissor link mechanism 38. The omnidirectional moving wheel 40 enables the horizontal transport carriage 10 to change direction and move in a state where the front end lower portion of the scissor link mechanism 38 is grounded, and further allows the scissor link mechanism 38 to smoothly move.・ Realizes contraction. Since the omnidirectional moving wheel 40 is always in contact with the ground, the scissor link mechanism 38 is pulled up to be in a non-grounded state when the transition from the unloading / unloading operation to the transporting operation is performed, When shifting to the lowering operation, an operation for lowering the scissor link mechanism 38 to be in a grounded state is not necessary.

  The upper rear end of the link member 36 is fixed to the lower rear end of the fork 32 so as to be freely rotatable. The lower end of the rear end of the other link member 36 is pivotally fixed to the lower frame 44 as will be described later, and the upper end of the front end is pivotally fixed to the lower end of the front end of the fork 32.

  The elevating mechanism 22 of the forklift 14 includes a gate-shaped upper frame 42 that is disposed above the pedestal 18B on the center side, a lower frame 44 that is disposed in the lower part of the upper frame 42, a lower frame 44, and a forklift The cylinder 46 which connects between 14 connection frames 34 up and down, and the raising / lowering drive source which drives the cylinder 46 are not shown. The lower end of the cylinder 46 is fixed to the upper end surface of the lower frame 44, and the upper end portion 50 of the piston rod 48 protruding upward from the cylinder 46 is fixed to the connecting frame 34 via a connecting member 52. In this mechanism, when the piston rod 48 extends upward from the cylinder 46, the fork 32 rises through the upper end portion 50, the connecting member 52, and the connecting frame 34. On the other hand, when the piston rod 48 contracts, the fork 32 descends via the connecting frame 34. At this time, the scissor link mechanism 38 is expanded / contracted as the fork 32 is raised / lowered while supporting the fork 32.

  The lower frame 44 includes an inverted U-shaped central portion 44A along the upper surface and side surface of the central pedestal portion 18B, and a side portion 44B extending outward in the left-right direction in the groove 30 from the lower end of the central portion 44A. A connecting member 58 is attached to the front side of the side portion 44B, and the lower end of the rear end of one link member 36 of the scissor link mechanism 38 is rotatably connected to the connecting member 58.

  The forklift telescopic mechanism 20 includes a rail extending in the front-rear direction on the inner surface of the left and right pedestal portions 18A, 18C, and a lower end of the upper frame 42 slid in the front-rear direction along the pedestal portion 18 along the rail. And a slider (not shown) that drives the slider. In the telescopic mechanism 20, when the upper frame 42 slides to the rear end of the rail, the lower frame 44 and the connecting frame 34 also move together with the upper frame 42. As a result, the fork 32 contracts and enters the groove 30 between the pedestal portions 18 and fits between the pedestal portions 18A, 18C and the pedestal portion 18B, and the upper frame 42 also fits into the recess 16A of the standing wall portion 16 of the carriage main body 12. It will fit. Conversely, when the upper frame 42 slides to the front end of the rail, the lower frame 44 and the connecting frame 34 also move together with the upper frame 42, and the fork 32 extends and projects forward from the groove 30 between the pedestal portions 18. It will be in the state.

  Further, the horizontal transport carriage 10 includes a laser sensor (self-position estimation means) (not shown) that estimates the self-position of the main body 12 and the above-described two-lens camera sensor 24 that recognizes the positional relationship between the self-position and the object to be transported. Based on the (positional relationship recognition means) and the positional relationship recognized as the estimated self-position, the movement of the cart body 12 by the drive steering wheel 26 and the steering wheel 28 and the operation of the forklift 14 by the telescopic mechanism 20 and the lifting mechanism 22 are performed. Control means (not shown) for controlling. This control means can be remotely controlled from the outside via a wireless or wired communication means.

  The laser sensor is a sensor that can acquire a state such as a peripheral shape as two-dimensional information by irradiating the periphery with laser light. By using the two-dimensional information acquired by this sensor in combination with the known drawing information of the construction site where the horizontal conveyance carriage 10 is used, the current position of the horizontal conveyance carriage 10 can be determined.

(Unloading / unloading work)
Next, a flow at the time of unloading / unloading work by the horizontal conveyance carriage 10 will be described.

  First, the horizontal conveyance carriage 10 is directly opposed to a material pallet on which materials to be conveyed are loaded.

  Next, the forklift 14 is extended forward by the telescopic mechanism 20 and the fork 32 is inserted into the material pallet. Subsequently, the piston rod 48 of the elevating mechanism 22 is extended upward to raise the fork 32, and the material is loaded together with the material pallet. Here, the scissor link mechanism 38 is deployed in conjunction with the ascending operation of the fork 32 while supporting the fork 32 from below. During this time, the omnidirectional moving wheel 40 is grounded, and a smooth unfolding operation is realized while supporting the scissor link mechanism 38.

  Next, the forklift 14 is contracted rearward by the telescopic mechanism 20. At this time, the fork 32 contracts and moves backward while being supported by the scissor link mechanism 38 from below. During this time, the omnidirectional moving wheel 40 is grounded and realizes a smooth contraction operation while supporting the scissor link mechanism 38. Subsequently, the fork 32 is lowered by the elevating mechanism 22, and the material and the material pallet are transferred to the pedestal portion 18. Since the omnidirectional moving wheel 40 is in contact with the lower part of the front end of the contracted scissor link mechanism 38, the horizontal transport carriage 10 is ready to start toward a predetermined transport destination.

  As described above, according to the horizontal transport cart 10 of the present embodiment, the center of gravity of the cart at the time of transport is kept low without losing the adaptability to materials of the forklift cart by loading / transporting the object to be transported. And stable material transportation. In addition, since the omnidirectional moving wheel 40 is always in contact with the lower part of the scissor link mechanism 38, the operation of lifting or lowering the scissor link mechanism 38 at the time of switching between the unloading / unloading operation and the transporting operation. Is no longer necessary.

(Transport operation)
Next, the transport operation of the horizontal transport cart 10 will be described. As described above, the horizontal transport cart 10 recognizes the self-position of the cart body 12, the binocular camera sensor 24 that recognizes the positional relationship between the self-position and the transported object, and the estimated self-position. Based on the positional relationship, it is provided with a control means for controlling the movement of the bogie main body 12 by the drive steering wheel 26 and the steering wheel 28 and the operation of the forklift 14 by the telescopic mechanism 20 and the lifting mechanism 22. It is possible to run autonomously while estimating its own position by superimposing data and two-dimensional range information by a laser sensor. For this reason, there is no need for means for guiding the course of the magnetic tape or the like. Accordingly, it is possible to realize a trackless truck track. Further, the control means can move while estimating its own position, directly face the load that is the object to be conveyed, and load / unload by the forklift 14.

  For example, when unloading, the control means grasps the distance and angle with the material pallet via the two-lens camera sensor 24, and after the cart body 12 is directly opposed to the material pallet, the lifting mechanism The material pallet may be unloaded by operating the forklift 14 via the expansion / contraction mechanism 20. Then, it is only necessary to move within the construction site while estimating the self-position via the laser sensor and unload at a predetermined position.

  As described above, according to the present embodiment, it is possible to automate / save labor in the transfer work at the construction site. In addition, an automatic conveyance system that can be applied without reinforcing the floor of the building can be constructed. Furthermore, the stability and safety of the transport system using the low center of gravity type forklift truck can be improved. In addition, it can handle a wide variety of loads by using a forklift truck. Furthermore, since it is not necessary to attach a magnetic tape or the like for guiding the carriage to the floor, it is possible to construct an automatic conveyance system that can flexibly cope with a plan change.

  As described above, according to the horizontal conveyance carriage according to the present invention, the horizontal conveyance carriage for horizontally conveying the object to be conveyed, the pedestal for depositing the unloaded conveyance object, the driving wheel, and the steering A main body having a wheel, a forklift that is attached to the main body and for loading / unloading the object to / from the pedestal from the outside, an expansion / contraction mechanism that expands / contracts the forklift in the front / rear direction, and the vertical movement A scissor-like scissor that is provided between the floor surface and the forklift to support the forklift from the lower side to prevent the lifting mechanism and the forklift during unloading / unloading of the conveyed object from being cantilevered. Since it includes a link mechanism and an omnidirectional moving wheel that supports the scissor link mechanism so as to be movable in all directions, it is possible to avoid the increase in the weight of the carriage while forking the truck. It is possible to increase the bets stability. For this reason, the lightweight horizontal conveyance trolley | bogie which can convey a to-be-conveyed object horizontally stably with a low center of gravity can be provided.

  Further, according to another horizontal transport cart according to the present invention, self-position estimation means for estimating the self-position of the cart body, positional relationship recognition means for recognizing the positional relationship between the self-position and the object to be transported, and the self-position Based on the positional relationship, it is further provided with control means for controlling the movement of the cart body by the drive wheel and the steering wheel and the operation of the forklift by the expansion / contraction mechanism and the lifting / lowering mechanism. Can be realized.

  Moreover, according to the other horizontal conveyance trolley | bogie which concerns on this invention, since a control means is remotely controlled from the outside via a wireless or wired communication means, a horizontal conveyance trolley can be operated remotely.

  In addition, according to another horizontal transport cart according to the present invention, it is possible to autonomously travel while estimating its own position based on the drawing data representing the position information of the construction site, so that autonomous travel of the horizontal transport cart is realized. Can do.

  As described above, the horizontal transport cart according to the present invention is useful for horizontally transporting materials to be transported such as materials and equipment at construction sites and the like, and in particular, can be flexibly adapted to various construction sites and has stability. Suitable for providing high horizontal transport carts.

DESCRIPTION OF SYMBOLS 10 Horizontal conveyance trolley 12 trolley | bogie main body 14 Forklift 16 Standing wall part 16A Recessed part 18,18A, 18B, 18C Pedestal part 20 Telescopic mechanism 22 Lifting mechanism 24 Binocular camera sensor (positional relationship recognition means)
26 Drive Steering Wheel 28 Steering Wheel 30 Groove 32 Fork 34 Connection Frame 36 Link Member 38 Scissor Link Mechanism 40 Wheels Moving in All Direction 42 Upper Frame 44 Lower Frame 44A Central Part 44B Side Part 46 Cylinder 48 Piston Rod 50 Upper End Part 52, 58 Connection Element

Claims (4)

A horizontal transport cart for horizontally transporting an object to be transported,
A trolley body having a pedestal portion for depositing a transported article, a driving wheel and a steering wheel;
A forklift that is attached to the main body of the truck and is used to load / unload the object to / from the pedestal from the outside, an expansion / contraction mechanism that expands / contracts the forklift in the front / rear direction, an elevating mechanism that moves up / down, and A scissor-like scissor link mechanism that is provided between the floor surface and the forklift to prevent the forklift that is being unloaded / unloaded from being cantilevered and expands to support the forklift from below, and this scissor link mechanism An omnidirectional moving wheel that movably supports the vehicle in a omnidirectional manner.   Self-position estimation means for estimating the self-position of the cart body, position-recognition means for recognizing the positional relationship between the self-position and the object to be transported, and based on the self-position and the positional relation, 2. The horizontal conveyance carriage according to claim 1, further comprising a control means for controlling the movement and the operation of the forklift by the extension mechanism and the elevating mechanism.   The horizontal conveyance carriage according to claim 1 or 2, wherein the control means is remotely controlled from outside via a wireless or wired communication means.   The horizontal conveyance cart according to any one of claims 1 to 3, wherein the cart can autonomously travel while estimating its own position based on drawing data representing position information of a construction site.