JP2020001635A - Load transport method and load transport system - Google Patents

Abstract

To provide a load transport method which can efficiently and suitably transport a load in a narrow and complicated passage, and a load transport system.SOLUTION: A load transport method for transporting a load 20 comprises a bogie arrangement step for arranging two drive bogies 30 and at least one driven bogie 40 between a floor face and a loaded face 20D of the load 20, and arranging the load 20 so as to be supported by three support regions S1, S2. In the bogie arrangement step, the two drive bogies 30 are arranged in the two support regions S1, and at least the one driven bogie 40 is arranged in the remaining one support region S2, the two drive bogies 30 are arranged at a front side and a rear side of the load 20 in a transport direction T, and the driven bogie 40 is arranged between the two drive bogies 30 in the transport direction T while being shifted to one side in a width direction W orthogonal to the transport direction T in a plane of the loaded face 20D.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a method and a system for transporting a load.

  There is a demand for transporting loads in narrow and complicated passages in buildings. As an apparatus for transporting a load, Patent Literature 1 describes an example of an electric caster that can switch between forward and backward movement and turning movement by rotating two drive wheels in the same direction or opposite directions.

JP 2001-158205 A

  Here, when carrying a load using an electric caster as in Patent Literature 1, it is common to dispose the electric casters only in front of the load and arrange driven wheels behind. However, in such a transportation method, it is difficult to reduce the turning radius.

  The present invention has been made in view of the above, and an object of the present invention is to provide a load carrying method and a load carrying system capable of efficiently and suitably transporting a load in a narrow and complicated passage. I do.

  The method for transporting a load according to the present invention includes disposing two driving trolleys and at least one driven trolley between a floor surface and a mounting surface of the load, and mounting the load on the three mounting surfaces. A trolley arranging step of arranging the trolley so as to be supported by a support area, wherein in the trolley arranging step, the two driving trolleys are respectively arranged in the two support areas, and at least one A driven truck is disposed, the two driving trucks are disposed on the front side and the rear side in the transport direction of the load, and the driven truck is disposed between the two driving trucks in the transport direction. , And is arranged close to one side in a width direction orthogonal to the transport direction in the surface of the mounting surface.

  In addition, the load carrying system of the present invention is disposed between a floor surface and a surface on which the load is mounted, and is disposed so as to support the load with three support areas on the load surface. And two driving trolleys and at least one driven trolley, two driving trolleys are respectively disposed in the two support areas, and at least one driven trolley is disposed in the other one of the support areas. The two driving bogies are disposed on the front side and the rear side in the transport direction of the load, and the driven bogie is disposed between the two driving bogies in the transport direction, and a surface of the mounting surface. , And are arranged close to one side in the width direction orthogonal to the transport direction.

  According to these configurations, since the two drive trucks are arranged on the front side and the rear side in the transport direction, the turning radius can be reduced, and the load can be efficiently and suitably transported even in a narrow and complicated passage. can do. In addition, since the load, the driving trolley, and the driven trolley are separate from each other, the present invention can be applied to loads of various sizes. Further, since the driven bogie is arranged close to one side in the width direction, it is easy to visually recognize the driven bogie from the side by an imaging device or the like. Thus, even after the mounted object has turned, the direction of the mounted object can be easily grasped by the imaging device or the like depending on the position of the driven vehicle.

  In addition, it is preferable that the two driving carts are arranged closer to the other side in the width direction.

  According to this configuration, since the driving bogie is arranged close to the other side in the width direction, it is easy to visually recognize the driving bogie from the side. Thereby, even after the mounted object has turned, it is possible to easily grasp the direction of the mounted object by the imaging device or the like, depending on the position of the driving bogie.

  In addition, it is preferable that at least one of the driving trolley and the driven trolley be disposed in the mounting surface.

  According to this configuration, since the driving bogie and the driven bogie do not protrude from the side of the load, the load can be more efficiently and suitably transported even in a narrow passage.

  Further, it is preferable that the driving bogie has a maximum loading load on the order of t (ton) and a height of 300 mm or less.

  According to this configuration, it is possible to carry a load in a building with a low ceiling.

  In the truck placement step, an intervening member is arranged between the surface on which the object is mounted and at least one of the surface on which the drive vehicle is mounted and the surface on which the driven vehicle is mounted. It is preferable to have a position restricting portion for restricting deviation of the driving bogie and the driven bogie from an object.

  According to this configuration, it is possible to prevent the loaded article being transported from being displaced or falling off the drive cart.

  Further, it is preferable that the driven truck includes a support member on which the load is placed, and a plurality of driven wheels provided on the support member.

  According to this configuration, the load of the load applied to the driven truck can be distributed to the plurality of driven wheels. As a result, the load on each of the driven wheels of the driven truck can be reduced. In addition, by providing the driven wheel on the support member, a part of the driven wheel floats from the floor surface at a step portion or the like, and a part of the driven wheel is shifted or dropped from the mounting surface of the mounted object. Can be prevented.

  In addition, for the two driving vehicles and the one driven vehicle arranged in the truck disposing step, a loading step of mounting the mounted object, and driving the two driving vehicles to move the mounted object to a predetermined position. A transporting step of transporting to the destination, an unloading step of unloading the load from the two driving vehicles and one driven vehicle at the predetermined destination, and the two driving vehicles and 1 from the predetermined destination. And a trolley collecting step of collecting the two driven trolleys.

  According to this configuration, the load can be efficiently and suitably transported even in a narrow and complicated passage, so that the work time required for transport can be reduced. Further, since the two driving vehicles and the one driven vehicle are separate from each other, the driven vehicles and the driven vehicles after unloading can be easily collected.

  Preferably, in the transporting step, the driving bogie is remotely controlled by a control device communicably connected to the driving bogie.

  According to this configuration, it is not necessary for the operator to always travel alongside the load in a narrow and complicated passage, so that the load can be efficiently and suitably transported. Further, since the operator can operate from a place away from the load, it can be transported into a building where it is difficult for humans to enter for a long time.

  In the building for transporting the load, an imaging device for capturing the load is provided, and in the transporting step, an image of the load is provided from the imaging device for capturing the load. Is preferred.

  According to this configuration, the posture and position of the loaded article being transported from a place away from the loaded article can be appropriately checked, so that the worker does not need to always travel alongside the loaded article in a narrow and complicated passage, efficiently and The load can be suitably transported. It is also possible to transport the building into a building where people cannot enter for a long time.

  Further, it is preferable that the driving trolley and the driven trolley are connected by a connecting member, and in the trolley collecting step, the driven trolley is driven to collect the driven trolley via the connecting member.

  According to this configuration, since the driven bogie can be collected together with the driven bogie after the transport of the load is completed, the driving bogie and the driven bogie can be efficiently and suitably collected.

FIG. 1 is a schematic side view of the transport system according to the first embodiment. FIG. 2 is a schematic bottom view of the transport system according to the first embodiment. FIG. 3 is a schematic plan view showing an example of the operation of the load carried in the building. FIG. 4 is a block diagram of the transport system according to the first embodiment. FIG. 5 is a flowchart illustrating an example of a method of transporting a load by the transport system. FIG. 6 is a flowchart illustrating an example of a method of monitoring a load by the transport system. FIG. 7 is a schematic side view of the transport system according to the second embodiment. FIG. 8 is a schematic bottom view of the transport system according to the third embodiment. FIG. 9 is a schematic bottom view of the transport system according to the fourth embodiment. FIG. 10 is a schematic bottom view of the transport system according to the fifth embodiment.

  Hereinafter, an embodiment of a load carrying method according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited by the embodiment. The components in the following embodiments include those that can be easily replaced by those skilled in the art, or those that are substantially the same. Furthermore, the components described below can be appropriately combined. In the following description of the embodiments, the same components will be denoted by the same reference numerals, and different configurations will be denoted by different reference numerals.

[First Embodiment]
FIG. 1 is a schematic side view of the transport system according to the first embodiment. FIG. 2 is a schematic bottom view of the transport system according to the first embodiment. FIG. 3 is a schematic plan view showing an example of the operation of the load carried in the building. FIG. 4 is a block diagram of the transport system according to the first embodiment. As shown in FIGS. 1 and 2, the transport system 10 includes two drive vehicles 30 and one driven vehicle 40 on which the load 20 that is the object to be transported is placed. As shown in FIGS. 3 and 4, the transport system 10 includes an obstacle detection device 50, a plurality of (one in the drawing) imaging devices 60, and a control device 70. In the transport system 10 according to the first embodiment, it is assumed that the load 20 is transported into the first building B1, but the transport system 10 is capable of running the two drive vehicles 30 and the driven vehicles 40. As long as it is a place, it may be used in any building or outdoors.

  As shown in FIGS. 1 and 2, the mounted object 20 is, for example, an investigation device, equipment, or the like. The bottom surface of the mounted object 20 in the vertical direction H is a mounted surface 20 </ b> D installed on the two drive vehicles 30 and the one driven vehicle 40. The mounting surface 20D may be the bottom surface of the entire mounted object 20 or a part of the bottom surface of the mounted object 20, and is not particularly limited. The mounted object 20 is mounted on the two driving vehicles 30 and one driven vehicle 40 and is supported by the two driving vehicles 30 and one driven vehicle 40. In the first embodiment, the mounted object 20 has a rectangular parallelepiped shape, but the shape of the mounted object 20 is not limited to this, and the mounting surface of the mounted object 20 that is in contact with the two driving vehicles 30 and the one driven vehicle 40. Any shape may be used as long as the 20D is integral.

  The mounting surface 20D of the mounted object 20 has three support areas S1 and S2. Of the three support regions S1 and S2, two drive carts 30 are arranged in two support regions S1, respectively. One driven bogie 40 is disposed in each of the remaining one support region S2 among the three support regions S1 and S2.

  The two driving trolleys 30 and the one driven trolley 40 are arranged between the floor surface F and the mounted surface 20D of the mounted object 20, respectively. One of the two driving carts 30 is disposed on the front side in the transport direction T of the load 20. The other drive truck 30 of the two drive trucks 30 is disposed on the rear side in the transport direction T of the load 20. The driven vehicle 40 is disposed between the two driving vehicles 30 in the transport direction T of the load 20.

  The driven vehicle 40 is arranged in the plane of the mounted surface 20D of the mounted object 20 so as to be closer to one side in the width direction W orthogonal to the transport direction T. That is, the center of gravity P <b> 2 of the driven vehicle 40 is arranged on one side in the width direction W by a predetermined amount with respect to the center line L of the mounted object 20. The two drive carts 30 are arranged in the plane of the mounting surface 20 </ b> D of the mounted object 20 toward the other side in the width direction W orthogonal to the transport direction T. In other words, the center of gravity P1 of the driving bogie 30 is arranged on the other side in the width direction W by a predetermined amount with respect to the center line L of the load 20.

  In the first embodiment, the driving bogie 30 has a maximum loading load on the order of t (tons) and a height of 300 mm or less. The drive truck 30 includes a drive truck frame 32, a drive mechanism 34, two drive wheels 36, and four driven wheels 38.

  The drive bogie frame 32 has a mounting table 32A, a turning shaft 32B, and a main body frame 32C. The mounting table 32A has a mounting surface 32U on which the mounting object 20 is mounted on the upper surface. The turning axis 32B is an axis in the vertical direction H for turning the mounting table 32A. The main body frame 32C is connected to the mounting table 32A via a turning shaft 32B so as to be relatively rotatable. In the first embodiment, the driving bogie frame 32 is a frame having a flat rectangular shape and a flat box shape. However, the driving bogie frame 32 is not limited as long as it has a robust material and structure capable of withstanding the load by mounting the load 20. May be.

  The drive mechanism 34 includes a drive source 34a and two shafts 34b. The drive source 34a is provided on the main body frame 32C. The drive source 34a is, for example, an electric motor including a battery. The two shafts 34b are provided rotatably with respect to the main body frame 32C. The two shafts 34b rotate by the driving force of the driving source 34a. The drive mechanism 34 includes a switching mechanism that switches between the rotation directions of the two shafts 34b between the same direction and the opposite direction between the drive source 34a and the two shafts 34b. The drive mechanism 34 may include, for example, a reduction mechanism between the drive source 34a and the two shafts 34b that reduces the driving force of the drive source 34a.

  The two drive wheels 36 are symmetrically arranged in the width direction W of the mounted object 20 with respect to the main body frame 32C. The two drive wheels 36 are fixed to two shafts 34b, respectively. That is, the two driving wheels 36 rotate by the driving force of the driving source 34a. The two drive wheels 36 are capable of moving forward and backward and turning when the switching mechanism switches the rotation directions of the two shafts 34b. In the first embodiment, the drive cart 30 includes two drive wheels 36 and two shafts 34b, but includes only one drive wheel 36, and is provided so as to be capable of rotating and turning with respect to the main body frame 32C. You may. In the first embodiment, one drive source 34a is provided between the two drive wheels 36, and one of the forward / backward operation and the turning operation is performed by the switching mechanism. Driving sources may be provided and driven separately. The drive cart 30 may be of any type as long as it is capable of moving forward and backward and turning in a self-propelled manner.

  The four driven wheels 38 are, for example, casters. The four driven wheels 38 are provided so as to be able to rotate and turn with respect to the main body frame 32C. The four driven wheels 38 have no driving force and follow the movement of the main body frame 32C. In the first embodiment, the driving bogie 30 includes four driven wheels 38 disposed before and after the two driving wheels 36, but the number and arrangement of the driven wheels 38 are not limited thereto, and include the driven wheels 38. It is not necessary.

  The two drive carts 30 are placed in the mounting surface 20 </ b> D of the mounted object 20. Specifically, the movable areas of the main body frame 32C, the drive wheels 36, the driven wheels 38, and the like are arranged so as to fit below the mounting surface 20D of the mounted object 20 in the vertical direction H.

  In the first embodiment, the driven bogie 40 has a maximum loading load on the order of t (tons) and a height equal to the height of the driving bogie 30. The driven trolley 40 includes a driven trolley frame 42 (support member) and one driven wheel 44.

  The driven bogie frame 42 has a mounting surface 42U on which the mounted object 20 is mounted. In the first embodiment, the driven trolley frame 42 is a flat box-shaped frame having a rectangular flat surface. However, the driven trolley frame 42 is made of any rigid material and structure that can withstand the load by mounting the load 20. May be.

  The driven wheels 44 are, for example, casters. The driven wheels 44 of the driven truck 40 may be the same as or different from the driven wheels 38 of the driving truck 30. The driven wheels 44 are provided so as to be able to rotate and turn with respect to the driven bogie frame 42. The driven wheel 44 has no driving force and follows the movement of the driven bogie frame 42.

  The driven vehicle 40 is placed in the mounting surface 20 </ b> D of the mounted object 20. Specifically, the movable areas of the driven wheels 44 and the like are arranged so as to fit below the mounting surface 20D of the mounted object 20 in the vertical direction H.

  Hereinafter, the transportation system 10 will be described as including the obstacle detection device 50, the imaging device 60, and the control device 70 illustrated in FIGS. In the first embodiment, the first building B1 is an area where it is difficult for a person to enter for a long time. The first building B1 is, for example, a reactor building. The second building B2 is a separate building from the first building B1, and is an area where people can easily enter for a long time. The second building B2 is, for example, a seismic isolation building. As shown in FIG. 3, the transport route TR of the first building B1 has a narrow and complicated structure due to obstacles BL such as walls, structures, and rubbles inside the first building B1. When the load 20 is transported along the transport route TR, it is necessary to avoid these obstacles BL.

  As shown in FIG. 3, the obstacle detection device 50 has a plurality of sensors 52. The obstacle detection device 50 of the first embodiment has a total of four sensors 52 provided on each of the left and right side surfaces of the mounted object 20. The sensor 52 is a length measuring sensor in the first embodiment. The length measuring sensor measures the width and position of the obstacle by emitting a belt-like laser beam and detecting a change in the amount of light when the obstacle blocks the laser beam. In the sensor 52, the emission direction of the laser light is perpendicular to the side surface of the mount 20. The obstacle detection device 50 detects the width and position of the obstacle BL that has entered the effective detection area SF of the sensor 52. That is, the obstacle detection device 50 detects the width and position of the inner wall, the structure, the rubble, and the like of the first building B1, and transmits the detection result to the control device 70 described later. The position and the number of the sensors 52 provided on the mounted object 20 are not limited to the first embodiment. In the first embodiment, the sensor 52 is provided on the mounted object 20, but may be provided on the driving bogie 30 and the driven bogie 40.

  The imaging device 60 captures an image of the transport route TR in the first building B1. The imaging device 60 transmits the captured image of the transport route TR to the control device 70 described below. The imaging device 60 is provided, for example, on a wall surface inside the first building B1. Although the imaging device 60 is provided inside the first building B1 in the first embodiment, it may be provided on the load 20, the driving trolley 30, or the driven trolley 40.

  As shown in FIG. 4, the control device 70 is provided in the second building B2. The control device 70 controls the two driving carts 30, the obstacle detection device 50, and the imaging device 60. The control device 70 is, for example, a computer, an operation tool, or the like. In the transport system 10 of the first embodiment, the two driving carts 30, the obstacle detection device 50, the imaging device 60, and the control device 70 are connected so as to be capable of wireless communication. The two drive carts 30, the obstacle detection device 50, the imaging device 60, and the control device 70 may be connected so as to be able to perform wired communication. For example, wired communication laid down to around the first building B1 or near the entrance may be used, and wireless communication may be used inside the first building B1. The control device 70 includes a display unit 72, an imaging device operation unit 74, a driving trolley operation unit 76, and an obstacle detection unit 78.

  The display unit 72 displays a captured image captured by the imaging device 60, the driving and operation status of the driving trolley 30, information on the obstacle BL detected by the obstacle detection device 50, and the like. The display unit 72 is, for example, a monitor of a computer. The display unit 72 may be a single unit, or may display the captured image captured by the imaging device 60, the driving and operation status of the driving trolley 30, and the information on the obstacle BL detected by the obstacle detection device 50. There may be a plurality of display units 72 for displaying each.

  The imaging device operation unit 74 controls the plurality of imaging devices 60 and outputs a drive signal. By operating the imaging device operation unit 74, the operator can drive the imaging device 60 and operate the imaging direction. By operating the imaging device operation unit 74, the operator can switch to the imaging device 60 that images the mounted object 20 among the plurality of imaging devices 60. The display unit 72 acquires the transport route TR captured by the selected imaging device 60 and the captured image of the load 20 transported along the transport route TR. In the first embodiment, the switching of the plurality of imaging devices 60 is performed by an operator. For example, by automatically driving the imaging device 60 only when the mounted object 20 enters the imaging range of the imaging device 60, the switching is automatically performed. The imaging device 60 may be switched to another.

  The drive bogie operation unit 76 controls the drive mechanism 34 shown in FIG. By operating the drive bogie operation unit 76, the operator can remotely control the advance / retreat and turning of the drive bogie 30. The driving and operation status of the driving bogie 30 by the driving bogie operating unit 76 is displayed on the display unit 72.

  When the obstacle BL enters the effective sensing area SF shown in FIG. 3, the obstacle detection unit 78 acquires information such as the width and the position of the obstacle BL detected by the obstacle detection device 50. The obstacle detection unit 78 causes the display unit 72 to display information such as the acquired width and position of the obstacle BL.

  FIG. 5 is a flowchart illustrating an example of a method of transporting a load by the transport system. First, the worker checks the shape of the load 20 shown in FIGS. 1 and 2 (step S10).

  The operator determines the arrangement of the two driving trolleys 30 and one driven trolley 40 according to the shape of the load 20 (trolley arrangement step S12). At this time, the operator arranges the two drive carts 30 in the two support areas S1 and arranges one driven cart 40 in the remaining one support area S2. The operator arranges the two drive carts 30 on the front side and the rear side in the transport direction T so as to fit within the mounting surface 20D of the load 20, and also arranges them on the other side in the width direction W. The operator arranges the driven cart 40 between the two driving carts 30 in the transport direction T so as to fit within the mounting surface 20D of the load 20 of the load 20, and moves the driven cart 40 to one side in the width direction W. Place.

  Next, the worker mounts the load 20 on the two driving carts 30 and one driven cart 40 arranged in the cart arrangement step S12 (loading step S20). At this time, the operator lifts the load 20 with a jack or lifts it with a crane, for example. With the mounted article 20 floating above the floor F, the operator places the two driving trolleys 30 and one driven trolley 40 between the floor F and the mounting face 20D of the mounted article 20. The operator arranges the two driving carts 30 and the one driven cart 40 at the positions determined in the cart arrangement step S12. Thereafter, the mounted object 20 is lowered and mounted on the two driving vehicles 30 and one driven vehicle 40 of the mounted object 20 to support the mounted object 20 by the two driving vehicles 30 and the one driven vehicle 40. . That is, the load 20 is supported in the three support areas S1 and S2.

  Next, the operator drives the two driving carts 30 to transport the load 20 to a predetermined destination (transportation step S30). Here, with reference to FIG. 6, a method of monitoring the load 20 during the transport step S30 by the transport system 10 will be described. FIG. 6 is a flowchart illustrating an example of a method of monitoring a load by the transport system. The monitoring processing of the load 20 by the transport system 10 is continued at least until the load 20 reaches a predetermined destination.

  While transporting the load 20 to a predetermined destination, the obstacle detection device 50 causes the sensor 52 to intermittently emit laser light to the effective detection area SF. The obstacle detection device 50 detects a change in the amount of light blocked by the sensor 52 in the effective detection area SF to detect the obstacle BL. That is, the obstacle detection unit 78 intermittently determines whether or not the obstacle BL has entered the effective sensing area SF (step S60).

  As a result of step S60, when it is determined that there is an obstacle BL in the effective sensing area SF (S60; Yes), the obstacle detection unit 78 acquires the width and position information of the obstacle BL (step S62). The control device 70 causes the display unit 72 to display the width and position information of the obstacle BL acquired by the obstacle detection unit 78 (step S64). At this time, when the distance between the load 20 and the obstacle BL becomes equal to or less than a predetermined distance, warning information may be displayed on the display unit 72. As a result of step S60, when it is determined that there is no obstacle BL in the effective sensing area SF (S60; No), or after step S64, the process proceeds to step S66.

  Next, the imaging device 60 images the transport passage TR in the first building B1 (Step S66). The control device 70 acquires a captured image of the transport path TR captured by the imaging device 60 (step S68). The control device 70 causes the display unit 72 to display a captured image of the transport route TR captured by the imaging device 60 (step S70). The above-described monitoring processing of the load 20 by the transport system 10 is repeated until the load 20 arrives at a predetermined destination.

  The operator determines whether or not the mounted object 20 can be visually recognized based on the captured image displayed on the display unit 72 in step S70. When the mounted object 20 cannot be visually recognized, the operator can switch the driving imaging device 60 to another imaging device 60 by operating the imaging device operation unit 74. When switching to another imaging device 60, in step S66, the switched imaging device 60 captures an image of the transport path TR. When the load 20 can be visually recognized, the worker checks the captured image and the width and position information of the obstacle BL, and moves the load 20 along the transport route TR while avoiding the obstacle BL. The drive truck 30 is appropriately operated by the drive truck operating unit 76.

  Next, the operator unloads the load 20 from the two driving trolleys 30 and one driven trolley 40 at a predetermined destination (FIG. 5, unloading step S40). At this time, the operator lifts the load 20 with a jack, for example. In a state where the mounted object 20 is floating from the mounting surface 32U of the driving vehicle 30 and the mounting surface 42U of the driven vehicle 40, the worker moves the two driving vehicles 30 and one driven vehicle 40 to the floor surface F and the mounted surface It is moved from between the mounting surface 20D.

  Next, the operator collects the two driving bogies 30 and the one driven bogie 40 from a predetermined destination (bogie collecting step S50). The two driving trolleys 30 and one driven trolley 40 are moved to a predetermined collection place and temporarily stored. At this time, the operator operates the driving bogie operation unit 76 to move the two driving bogies 30 to a predetermined collection place while confirming the captured image captured by the imaging device 60 by the transport system 10, for example. You may. The driving trolley 30 and the driven trolley 40 may be connected in advance by a connecting member, and the driven trolley 30 may be recovered via the connecting member by driving the driving trolley 30 in the trolley collection step S50. The connecting member is, for example, a rope.

  As described above, according to the method for transporting the load and the transport system 10 of the first embodiment, since the two drive carts 30 are arranged on the front side and the rear side in the transport direction T, the turning radius can be reduced. Thus, the load 20 can be efficiently and suitably transported even in a narrow and complicated transport path TR. Further, since the mounted object 20, the driving trolley 30, and the driven trolley 40 are separate from each other, the present invention can be applied to the mounted objects 20 of various sizes. Further, since the driven carriage 40 is arranged close to one side in the width direction W, it is easy for the imaging apparatus 60 and the like to visually recognize the driven carriage 40 from the side. Thus, even after the mounted object 20 has turned, the direction of the mounted object 20 can be easily grasped by the imaging device 60 or the like based on the position of the driven vehicle 40.

  In addition, since the two driving carts 30 are arranged close to the other side in the width direction W, it is easy to visually recognize the driving cart 30 from the side. Thus, even after the mounted object 20 has turned, the direction of the mounted object 20 can be easily grasped by the image pickup device 60 or the like based on the position of the driving bogie 30.

  In addition, since at least one of the driving trolley 30 and the driven trolley 40 is disposed within the mounting surface 20D, the driving trolley 30 and the driven trolley 40 do not protrude from the side of the mounted object 20. Also, the load 20 can be transported more efficiently and more suitably.

  Further, since the driving bogie 30 has a maximum loading load on the order of t (tons) and a height of 300 mm or less, the load 20 can be transported in a building (first building B1) having a low ceiling. .

  In addition, the loading step S20 of mounting the load 20 on the two driving vehicles 30 and one driven vehicle 40 arranged in the vehicle positioning step S12, and driving the two driving vehicles 30 to place the mounted object 20 in a predetermined manner. A transportation step S30 for transporting the vehicle 20 to the destination, an unloading step S40 for unloading the load 20 from the two driving vehicles 30 and one driven vehicle 40 at the predetermined destination, and two driving vehicles 30 from the predetermined destination. And trolley collecting step S50 for collecting one driven trolley 40, the load 20 can be efficiently and suitably transported even in a narrow and complicated passage, so that the work time required for transport is reduced. be able to. Further, since the two driving carts 30 and one driven cart 40 are separate from each other, the driving cart 30 and the driven cart 40 after unloading can be easily collected.

  In addition, in the transport step S30, the control unit 70 communicably connected to the drive cart 30 allows the drive cart 30 to be remotely operated, so that the worker always runs alongside the load 20 in the narrow and complicated transport path TR. Since it is not necessary to carry out, the load 20 can be efficiently and suitably transported. Further, since the worker can operate from a place (the second building B2) away from the load 20, it is possible to transport the building into the building (the first building B1) where it is difficult for humans to enter for a long time.

  In the building (first building B1) that transports the load 20, an imaging device 60 that captures an image of the load 20 is provided. Is provided, the posture and position of the loaded object 20 being transported from a place distant from the mounted object 20 can be appropriately checked, so that the worker can always hold the mounted object 20 in the narrow and complicated transport path TR. There is no need to run in parallel, and the load 20 can be efficiently and suitably transported. Moreover, it is also possible to transport into a building (first building B1) where it is difficult for people to enter for a long time.

  In addition, the driving cart 30 and the driven cart 40 are connected by a connecting member, and in the cart collecting step S50, the driving cart 30 is driven to collect the driven cart 40 via the connecting member, whereby The driven vehicle 40 can be collected together with the driven vehicle 30 that has finished transporting, so that the driving vehicle 30 and the driven vehicle 40 can be efficiently and suitably collected.

[Second embodiment]
FIG. 7 is a schematic side view of the transport system according to the second embodiment. The transport system 10A shown in FIG. 7 includes two driving bogies 30, one driven bogie 40, and three intervening members 80. The transportation system 10A is different from the configuration of the transportation system 10 according to the first embodiment in that the mounting surface 20D of the load 20 and the mounting surface 32U of the driving trolley 30 and the mounting surface 42U of the driven trolley 40 are respectively provided. The difference is that the interposition member 80 is arranged.

  The interposition member 80 has a mounting surface 80U on which the mounted object 20 is mounted. The mounting surface 80U of the interposition member 80 and the mounting surface 20D of the mounted object 20 may be detachably fixed.

  The intervening member 80 has a position regulating section 82. The position restricting portions 82 of the intervening members 80 respectively arranged on the two drive trucks 30 have a convex shape protruding downward, and are provided so as to surround the side surfaces of the drive truck 30. The position regulating portion 82 of the intervening member 80 disposed on the driving trolley 30 regulates the relative movement of the driving trolley 30 and the intervening member 80 in the horizontal plane direction, and regulates the deviation of the driving trolley 30 from the mounted object 20. The position regulating portion 82 of the interposition member 80 arranged on the driven vehicle 40 has a convex shape protruding downward, and is provided so as to surround the side surface of the driven vehicle 40. The position restricting portion 82 of the intervening member 80 arranged on the driven vehicle 40 restricts the relative movement between the driven vehicle 40 and the intervening member 80 in the horizontal plane direction, and restricts the deviation of the driven vehicle 40 from the load 20. The interposed member 80 is not limited to the shape of the second embodiment. For example, at least one convex portion protruding upward is provided on the mounting surface 42U of the drive truck 30 and the driven truck 40, and a concave position on the bottom surface of the interposition member 80 to be fitted to the convex portions of the drive truck 30 and the driven truck 40. A regulating section may be provided.

  The intervening member 80 is placed in the mounting surface 20 </ b> D of the load 20. Specifically, the position restricting portion 82 of the interposition member 80 is arranged so as to fit below the mounting surface 20D of the mounted object 20 in the vertical direction H.

  As described above, according to the method of transporting the load using the transport system 10A of the second embodiment, in the truck placement step S12, the loading surface 20D of the load 20, the mounting surface 32U of the drive truck 30, and the driven truck 40 An intervening member 80 is arranged between the mounting member 42 and the mounting surface 42U. It is possible to prevent the mounted object 20 from being shifted or falling off from the driving trolley 30 and the driven trolley 40.

  In the second embodiment, the intervening member 80 is disposed between the mounting surface 20D of the mounted object 20 and the mounting surface 32U of the driving vehicle 30 and the mounting surface 42U of the driven vehicle 40. It may be arranged on any one of the surface 20D, the mounting surface 32U of the driving bogie 30, and the mounting surface 42U of the driven bogie 40, or may be arranged on both.

[Third embodiment]
FIG. 8 is a schematic bottom view of the transport system according to the third embodiment. The transport system 10B shown in FIG. 8 includes two drive vehicles 30 and one driven vehicle 90. The transportation system 10B is different from the configuration of the transportation system 10 according to the first embodiment in that a driven vehicle 90 is provided instead of the driven vehicle 40.

  The mounting surface 20D of the mounted object 20 has three support areas S1 and S2. Of the three support regions S1 and S2, two drive carts 30 are arranged in two support regions S1, respectively. One driven bogie 90 is disposed in each of the remaining one of the three support regions S1 and S2.

  The driven truck 90 is arranged between the floor surface F (see FIG. 1) and the mounting surface 20D of the mounted object 20. The driven truck 90 is disposed between the two driving trucks 30 in the transport direction T of the load 20. The driven truck 90 is arranged in the plane of the mounting surface 20D of the mounted object 20 so as to be closer to one side in the width direction W orthogonal to the transport direction T. That is, the center of gravity P <b> 3 of the driven bogie 90 is displaced from the center line L of the load 20 by a predetermined amount on one side in the width direction W.

  In the third embodiment, the driven bogie 90 has a maximum loading load on the order of t (tons) and a height equal to the height of the driving bogie 30. The driven trolley 90 includes a support member 92 and a plurality of driven wheels 94. The number of driven wheels 94 is four in the third embodiment.

  The support member 92 mounts the load 20 and supports the load 20 together with the two drive carts 30. The driven wheel 94 is, for example, a caster. The driven wheels 94 of the driven truck 90 may be the same as or different from the driven wheels 38 of the driving truck 30. The driven wheel 94 is provided so as to be able to rotate and turn with respect to the support member 92. The driven wheel 94 has no driving force and follows the movement of the support member 92.

  The driven trolley 90 is placed in the mounting surface 20 </ b> D of the mounted object 20. Specifically, the movable area of the driven wheel 94 and the like is arranged so as to fit below the mounting surface 20D of the mounted object 20 in the vertical direction H (see FIG. 1).

  As described above, according to the method of transporting the loaded object using the transport system 10B of the third embodiment, the driven cart 90 includes the support member 92 on which the loaded object 20 is placed, and the plurality of driven members provided on the support member 92. With the provision of the wheels 94, the load of the load 20 on the driven carriage 90 can be distributed to the plurality of driven wheels 94. Thus, the load on each of the driven wheels 94 of the driven bogie 90 can be reduced. In addition, by providing the driven wheel 94 on the support member 92, a part of the driven wheel 94 floats from the floor F at a step portion or the like, and a part of the driven wheel 94 is moved with respect to the mounting surface 20D of the load 20. It can be prevented from shifting or falling off.

[Fourth embodiment]
FIG. 9 is a schematic bottom view of the transport system according to the fourth embodiment. The transport system 10C shown in FIG. 9 includes two drive vehicles 30 and two driven vehicles 40. The transport system 10C is different from the transport system 10 according to the first embodiment in that it has two driven trucks 40.

  The mounting surface 20D of the mounted object 20 has three support areas S1 and S2. Of the three support regions S1 and S2, two drive bogies 30 are respectively arranged in two support regions S1. Of the three support regions S1 and S2, two driven trucks 40 are disposed in the remaining one support region S2.

  In the fourth embodiment, the two driven trucks 40 are provided side by side in the transport direction T, but may be provided side by side in the width direction W. Further, the number of driven trucks 40 provided in the support area S2 may be three or more.

[Fifth Embodiment]
FIG. 10 is a schematic bottom view of the transport system according to the fifth embodiment. The transport system 10D illustrated in FIG. 10 includes two drive vehicles 30 and one driven vehicle 40. The transport system 10D is different from the transport system 10 according to the first embodiment in that the two drive carts 30 are positioned at the center in the width direction W orthogonal to the transport direction T in the plane of the mounting surface 20D of the load 20. They differ in the arrangement. That is, the center of gravity P <b> 1 of the driving carriage 30 is arranged along the center line L of the mounted object 20.

  As shown in the first embodiment and the fifth embodiment, the arrangement of the two drive carts 30 in the width direction W is not particularly limited. The two driving carts 30 are arranged in the two support areas S1, respectively, and at least one driven cart 40 is arranged in the remaining one supporting area S2, and the mounted article 20 is formed by the two driving carts 30 and the at least one driven cart 40. May be arranged in the width direction W of the two drive carts 30 as long as the two can be supported.

  In each of the above-described embodiments, the driving trolley 30, the driven trolley 40, the interposition member 80, and the driven trolley 90 are placed in the mounting surface 20D of the load 20, but partially protrude from the mounting surface 20D. May be arranged as follows.

10, 10A, 10B, 10C, 10D Transport system 20 Load 20D Mounting surface 30 Driving trolley 32 Driving trolley frame 32A Mounting pedestal 32B Revolving shaft 32C Main frame 32U Mounting surface 34 Drive mechanism 34a Drive source 34b Shaft 36 Drive wheel 38 Follower Wheel 40 driven truck 42 driven truck frame 42U mounting surface 44 driven wheel 50 obstacle detection device 52 sensor 60 imaging device 70 control device 72 display unit 74 imaging device operation unit 76 drive trolley operation unit 78 obstacle detection unit 80 intervening member 80U mounting Surface 82 Position regulation unit 90 Followed trolley 92 Support member S1, S2 Support area F Floor surface T Transport direction H Vertical direction W Width direction L Center line P1, P2, P3 Center of gravity B1 First building B2 Second building TR Transport path BL Obstacle Object SF valid detection area S10 Step S12 Truck placement step S20 Loading step S30 Transport step S40 Unloading step S50 Truck recovery step S60, S62, S64, S66, S68, S70 step

Claims (11)

In the method of transporting the load to transport the load,
Two driving trolleys and at least one driven trolley are arranged between a floor surface and a mounting surface of the mounted object, and are arranged so as to support the mounted object at three support areas on the mounted surface. With a cart placement step,
In the cart placement step,
Two drive carts are respectively arranged in the two support areas, and at least one driven cart is arranged in the remaining one support area,
The two drive trucks are disposed on a front side and a rear side in a transport direction of the load,
The driven trolley is arranged between the two driving trolleys in the transport direction, and is arranged in the plane of the mounting surface toward one side in a width direction orthogonal to the transport direction. The load carrying method.   The method according to claim 1, wherein the two driving carts are arranged close to the other side in the width direction.   3. The method according to claim 1, wherein at least one of the driving trolley and the driven trolley is disposed within the mounting surface. 4.   The load carrying method according to any one of claims 1 to 3, wherein the drive bogie has a maximum loading load on the order of t (ton) and a height of 300 mm or less. In the cart placement step,
An interposition member is arranged between at least one of the mounting surface of the mounted object and the mounting surface of the driving bogie and the mounting surface of the driven bogie,
The load according to any one of claims 1 to 4, wherein the interposition member has a position restricting portion that restricts deviation of at least one of the drive truck and the driven truck from the load. Transportation method.   The load according to any one of claims 1 to 5, wherein the driven truck includes a support member on which the load is mounted, and a plurality of driven wheels provided on the support member. Transportation method. A loading step of mounting the load on the two driving carts and one driven cart arranged in the cart disposing step;
A transporting step of driving the two driving carts to transport the load to a predetermined destination;
An unloading step of unloading the load from two driving bogies and one driven bogie at the predetermined destination;
The truck carrying method according to any one of claims 1 to 6, further comprising: a truck collecting step of collecting two of the driving carts and one of the driven carts from the predetermined destination. In the transporting step,
The method according to claim 7, wherein the drive bogie is remotely operated by a control device communicably connected to the drive bogie. An imaging device for imaging the load is provided in a building that transports the load,
In the transporting step,
The method according to claim 7, wherein an image of the mounted object is provided from an imaging device that images the mounted object. The driving bogie and the driven bogie are connected by a connecting member,
In the cart collection step,
The method according to any one of claims 7 to 9, wherein the driven trolley is driven to collect the driven trolley via the connecting member. In a load carrying system that carries loads,
Two drive bogies and at least one driven bogie arranged between a floor surface and a mounting surface of the mounted object and arranged to support the mounted object at three support regions on the mounted surface; With
Two drive trucks are respectively arranged in the two support regions, and at least one driven truck is arranged in the remaining one support region,
The two drive trucks are disposed on the front side and the rear side in the transport direction of the load,
The driven trolley is arranged between the two driving trolleys in the transport direction, and is arranged in the plane of the mounting surface toward one side in a width direction orthogonal to the transport direction. Load carrying system.

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