JP2644680B2 - Transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device for transferring in a state of being floated by an air bearing.

[0002]

2. Description of the Related Art Conventionally, an air bearing is provided on the lower surface side of a transfer base as a transfer device for moving a super-heavy object in a plane, and the transfer base is moved while being floated by the air bearing. (For example, Japanese Utility Model Application Laid-Open No. 53-159010, Japanese Utility Model Application Laid-Open No. 50-152309, Japanese Unexamined Patent Application Publication No.
No. 88916).

[0003]

By the way, the greatest advantage of the transfer apparatus using this type of air bearing is that the air formed between the air bearing and the transfer floor surface by the air jetted from the air bearing. Since the coefficient of friction between them is kept extremely low as about 1/1000 by the film, the transport device can be easily moved with extremely small operation force and freely on the transport floor in any direction. It is in.

[0004] However, such a low coefficient of friction at the time of transport can be a disadvantage that is difficult to overlook on one hand. In other words, since the coefficient of friction between the transfer floor and the transfer floor is extremely small, the transfer device starts to move spontaneously when there is a gradient on the transfer floor or when a small force is inadvertently applied due to an erroneous operation or the like. There is a risk of (flowing out), which causes inconvenience when, for example, it is desired to stop the transport device at a predetermined position and maintain that position. Further, for example, in the case of carrying the sheet through a narrow place, the direction (especially straightness) at the time of carrying of the carrying device is important, but the carrying device is small due to the inclination of the carrying floor surface or the like. Since it is easily moved by force, it is difficult to maintain directionality, and there is a possibility that conveyance in a narrow place cannot be performed as desired. Further, in the case where the transfer device is turned to change the direction, there is nothing to be the center of rotation, and the entire transfer device can be easily moved in any direction. It is conceivable that the expected turning mode (for example, turning locus, position / direction after turning, etc.) cannot be achieved, which may cause inconvenience in terms of operability.

Accordingly, the present invention provides a transfer device using an air bearing, which realizes a transfer with good operability and a reliable stop with a simple structure, and is capable of accurately achieving various turning operations. It was done as.

[0006]

Means for Solving the Problems In the present invention, the following configuration is adopted as specific means for solving such problems.

[0007] In the transfer device according to the first invention of the present application,
On the lower surface side of the transfer base on which the object to be transferred can be placed on its upper surface side, while equipped with an air bearing capable of forming an air film between the transfer floor and the opposing transfer surface by the jet air, The transfer base can be selectively set between a pressing position driven by an air motor and pressed against the transfer floor surface with a predetermined contact pressure and a pull-up position pulled up from the transfer floor surface. In a state in which a plurality of drive wheels are separately set in at least two directions in which traveling directions of the respective drive wheels are at least orthogonal, and among the plurality of drive wheels, a specific one of the drive wheels is in a plane direction of the transport base. The transfer base is arranged at a substantially central position, and at a position appropriately laterally separated from the substantially center position in the plane direction of the transfer base, the drive base is driven by an air motor and a predetermined position is provided on the transfer floor surface. The turning drive wheel, which can be selectively set between a pressing position pressed by a contact pressure and a pulling position pulled up from the transfer floor surface, is moved in the running direction line to a substantially central position of the transfer base. Are arranged so as to face a direction substantially matching the tangential direction of the trajectory circle centered at.

According to a second aspect of the present invention, in the transport apparatus according to the first aspect, a pressing position, which is pressed against the transport floor surface with a predetermined contact pressure, on the traveling direction line of the drive wheel, and the transport floor surface The stabilizing wheel, which can be selectively set between a raised position and a raised position, and configured to travel in accordance with the movement of the transfer base in the lowered position, moves the traveling direction line in the above-described traveling direction line. It is characterized in that it is arranged so as to match the traveling direction line of the drive wheel.

In the transfer device according to the third invention of the present application,
On the lower surface side of the transfer base on which the object to be transferred can be placed on its upper surface side, while equipped with an air bearing capable of forming an air film between the transfer floor and the opposing transfer surface by the jet air, At a substantially central position in the plane direction of the transfer base, selectively between a pressing position driven by an air motor and pressed against the transfer floor surface with a predetermined contact pressure and a lifting position pulled up from the transfer floor surface. A single drive wheel, whose position can be set, is mounted so that its traveling direction can be changed within an angle range of at least 90 °, and is appropriately laterally separated from a substantially central position in a plane direction of the transfer base. The position is selected between a pressing position driven by an air motor and pressed against the transfer floor surface with a predetermined contact pressure and a lifting position pulled up from the transfer floor surface. Characterized in that the turning drive wheels whose positions can be set are arranged with their traveling direction lines oriented in a direction substantially matching the tangent direction of the trajectory circle centered on the substantially central position of the transfer base. I have.

In a fourth aspect of the present invention, in the transport apparatus according to the third aspect of the present invention, a predetermined contact pressure is applied to the transport floor surface at least at positions on the transport base on at least two traveling direction lines orthogonal to the drive wheels. The position can be selectively set between a lowering position pressed by the above and a raising position pulled up from the transfer floor surface, and in the lowering position, it is configured to travel following the movement of the transfer base. The stable wheels are arranged in such a manner that their running direction lines match the corresponding running direction lines of the drive wheels.

In the fifth invention of the present application, the first, second, and
In the transfer device according to the third or fourth invention, a jack mechanism for mechanically pushing the transfer base from the transfer floor surface to the transfer base, and the transfer mechanism in a state where the transfer base is pushed up by the jack mechanism. And a traveling roller mechanism that is detachable on the lower surface side of the base and that is capable of moving the transfer base by landing on the transfer floor surface by lowering the transfer base in a mounted state. Features.

[0012]

According to the present invention, the following effects can be obtained by adopting such a configuration.

(A) In the transfer device according to the first aspect of the present invention, first, an air bearing is provided on the lower surface side of the transfer base, and the transfer base is driven by an air motor and is lowered and raised. By setting the drive wheels to be selectively settable between and by driving the drive wheels by setting the drive wheels to the rolling-down position in a state where the transport base is floated by the air bearing, The transport base can be accurately moved along the traveling direction line by the drive wheels without inadvertent lateral flow movement or the like. Further, the stopping of the transport base is reliably achieved by stopping the driving action by the drive wheels due to frictional resistance between the drive wheels and the transport floor.
Even after the stop, the position is securely held, and careless movement as in the related art is prevented beforehand and reliably. Further, by imparting a moment force around the drive wheel to the transport base with the drive wheel set at the rolling position, the carrier can be easily turned around the drive wheel.

Further, by providing a plurality of the driving wheels and separately setting the traveling direction of each driving wheel in at least two directions perpendicular to each other, the transport base can be moved back and forth or selected by using each of the driving wheels. The right and left movement in a direction perpendicular to the direction can be easily achieved, and the control of the transport direction can be easily performed. Further, at this time, when a specific one of the plurality of driving wheels is arranged at a substantially central position in a plane direction of the transport base, only the specific driving wheel is set at the rolling-down position. By setting the other drive wheels to the raised position, the transport base can be turned (so-called fixed-position turn) around the specific drive wheel at that position. In this case, in particular, at a position appropriately spaced laterally from a substantially central position in the planar direction of the transfer base,
The turning drive wheel driven by the air motor and selectively settable between the rolling-down position and the pulling-up position has its traveling direction line in the tangential direction of the locus circle centered on the substantially center position of the transfer base. The specific drive wheels and the turning drive wheels located substantially at the center of the transfer base are set to the rolling-down position, and the specific drive wheels are stopped. By driving the turning drive wheels in the tilted state, the fixed position turning of the transfer base can be performed mechanically without manual operation.

(B) In the transfer device according to the second invention of the present application, the following operation is obtained in addition to the operation described in the above (a). That is, it is configured such that the position can be selectively set between the pressing position and the raising position on the driving direction line of the driving wheel, and the driving base follows the movement of the transport base at the pressing position. Since the stable wheels are arranged with their running direction lines aligned with the running direction lines of the driving wheels, both the driving wheels and the stable wheels on the running direction lines of the driving wheels are set to the rolling-down position. By driving the drive wheels, a flow of the transport base moved by the drive wheels in a lateral direction around the drive wheels is prevented by the stabilizing wheels, and the transport base is driven by the drive wheels. The vehicle travels back and forth as much as possible along the traveling direction line of the vehicle, and the straightness of the vehicle is improved.

(C) In the transfer device according to the third invention of the present application, first, the transfer floor surface facing the lower surface side of the transfer base on which the object to be transferred can be placed on the upper surface side by the blowing air. While an air bearing is formed so that an air film can be formed between the carrier base and the carrier base, the carrier is driven by an air motor and pressed against the carrier floor surface with a predetermined contact pressure at a substantially central position in the plane direction. A single drive wheel that can be selectively positioned between a rolling position to be lowered and a raised position raised from the transfer floor surface so that its traveling direction can be changed within an angle range of at least 90 °. Therefore, at least the front-back movement and the left-right movement can be realized by the single driving wheel.

Further, a pressing position driven by an air motor and pressed against the transfer floor surface with a predetermined contact pressure is provided at a position appropriately laterally separated from a substantially central position in the plane direction of the transfer base. The turning drive wheel, whose position can be selectively set between the raised position and the raised position from the surface, has its traveling direction line substantially coincident with the tangential direction of a locus circle centered on the substantially center position of the transfer base. The drive wheels and the turning drive wheels, which are located at substantially the center position of the transport base, are both set to the rolling-down position, and the drive wheels are stopped. By driving the turning drive wheels, the fixed position turning of the transport base can be performed mechanically without manual operation.

(D) In the transport device according to the fourth invention of the present application, the following operation is obtained in addition to the operation described in (c) above. That is, it is configured such that the position can be selectively set between the pressing position and the raising position on the driving direction line of the driving wheel, and the driving base follows the movement of the transport base at the pressing position. Since the stable wheels are arranged with their running direction lines aligned with the running direction lines of the driving wheels, both the driving wheels and the stable wheels on the running direction lines of the driving wheels are set to the rolling-down position. By driving the drive wheels, a flow of the transport base moved by the drive wheels in a lateral direction around the drive wheels is prevented by the stabilizing wheels, and the transport base is driven by the drive wheels. The vehicle travels back and forth as much as possible along the traveling direction line of the vehicle, and the straightness of the vehicle is improved.

(E) In the transfer device according to the fifth invention of the present application, the following operation is obtained in addition to the operation described in (a), (b), (c) or (d). That is, since the transport base is provided with the jack mechanism and the traveling roller mechanism, for example, when the operation of the air bearing is malfunctioned and it becomes difficult to lift the transport base, or when the air bearing operates. Is normal, but the transport operation can be continued by the traveling roller mechanism even when the floating transport becomes difficult due to a defective transport floor surface.

[0020]

Therefore, according to the transfer device of the present invention, the following effects can be obtained.

According to the transfer device according to the first aspect of the present invention, the drive wheels which can be selectively set between the pressing position and the pulling position on the transfer base equipped with the air bearing on the lower surface side. By having, the transport base can be accurately moved along the traveling direction line of the drive wheel without causing inadvertent lateral flow movement and the like, and its straightness is improved, and Stopping is ensured and the position is reliably maintained after stopping, and accurate turning around the drive wheels is achieved, resulting in a more stable and reliable transport operation. It is something that can be done.

Further, by providing a plurality of the driving wheels and separately setting the traveling direction in at least two orthogonal directions and selectively using the driving wheels, the forward and backward movement and the left and right movement of the transport base can be achieved. Therefore, the control of the transfer direction of the transfer base is facilitated, and high operability is achieved. Further, in this case, one drive wheel is disposed at a substantially central position of the transfer base, and the transfer base is rotated at a fixed position about the drive wheel, so that the transfer direction of the transfer base can be changed. The control is further facilitated and the operability is further improved. In particular, by providing the transport base with the turning drive wheels, the effect becomes more remarkable.

According to the transfer device of the second invention of the present application, in addition to the effects described above, a stable wheel is arranged on the traveling direction line of the drive wheel, and the lateral flow of the transfer base is controlled by the stable wheel. Since the transfer base is prevented, the straightness of the transfer base is improved, and the operation of the transfer base is simplified. For example, the transfer base can be remotely controlled, and the operation mode is expanded accordingly. In addition, the present invention can be applied to a transfer operation in a place where a worker cannot enter, and the versatility can be enhanced.

According to the transfer device of the third aspect of the present invention, while the air bearing is provided on the lower surface side of the transfer base, the transfer base is provided at a substantially central position in the plane direction of the transfer base.
A single drive wheel, which can be selectively positioned between the rolling position and the raising position, is moved by at least 9
Since it is mounted so as to be changeable within an angle range of 0 °, at least forward and backward movement and left and right movement can be realized by a single drive wheel, for example, in a place where dedicated drive wheels are respectively arranged in a plurality of directions. In comparison, the number of parts can be reduced and the weight can be reduced.

Further, in this case, the drive wheels are arranged at substantially the center of the transfer base, and the transfer base is rotated at a fixed position about the drive wheels, whereby the transfer of the transfer base is performed. The control of the direction is further facilitated, and the operability is further improved. In particular, the effect is further remarkable by providing the transport base with the turning drive wheels.

According to the transfer device of the fourth aspect of the present invention, in addition to the effects described above, a stable wheel is arranged on the traveling direction line of the drive wheel, and the lateral flow of the transfer base is controlled by the stable wheel. Since the transfer base is prevented, the straightness of the transfer base is improved, and the operation of the transfer base is simplified. For example, the transfer base can be remotely controlled, and the operation mode is expanded accordingly. In addition, the present invention can be applied to a transfer operation in a place where a worker cannot enter, and the versatility can be enhanced.

According to the transfer device of the fifth invention of the present application, in addition to the effects described above, or
Since the transport base is provided with a jack mechanism and a traveling roller mechanism, the transport base can be moved by the traveling roller mechanism when the operation of the air bearing is malfunctioning. And the reliability of the transfer device in the driving place is enhanced.

[0028]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a transfer apparatus according to the present invention.

[0029] A: The First Embodiment FIG. 1 to FIG. 3, the conveying device Z ₁ according to a first embodiment of the present invention is shown. The conveying device Z ₁ is for the purpose of transporting mainly a relatively high center of gravity position ultra heavy along a planar transport floor G stably,
In order to achieve such an object, a transport base 1 having a strong configuration as described below and air bearings 2, 2,... Described below capable of realizing an extremely low friction coefficient are provided. Driving mechanisms 3, 4 and stable moving mechanisms 9, 10, which will be described later, are provided to realize the fixed position holding property. Hereinafter, the specific configuration and the like of each of these components will be described in detail.

The transfer base 1 transfer base 1, FIGS. 1, as shown in 3, a pair of longitudinal girders 3 located on the left and right sides of the front-rear direction (see the arrow in FIG. 1)
1, 31 and a pair of front and rear cross beam members 32, 32 connecting the pair of vertical beam members 31, 31 in a direction orthogonal to the left and right direction (left-right direction). Auxiliary cross beams 38, 38 are arranged outside the cross beams 32, 32, respectively.

On the lower surface of the four corners of the transfer base 1, air bearings 2, 2,... To be described later are provided, and on the sides of the air bearings 2, 2,. Grounding plates 37, 37,... Are fixedly arranged, and the transfer base 1 is provided with the air bearings 2, 2,.
Is operating (that is, a state in which an air film is formed by air jetted from the air bearing 2 as described later).
When the air bearing 2 is in the non-operating state, the air bearing 2 is placed on the transfer floor G by the grounding plates 37, 37,. State.

The thickness of the grounding plates 37, 37,... Is determined in such a manner that the transfer base 1 is grounded on the transfer floor G via the grounding plates 37, 37,. Base 1
Is set so that a space having a vertical dimension that allows the attachment and detachment of the air bearing 2 described below can be formed between the lower surface of the sheet and the transfer floor surface G.

Further, the transfer base 1 is provided with first and second driving mechanisms 3 and 4, which will be described later, first and second stable moving mechanisms 9 and 10, and a turning driving mechanism 13, respectively. Have been.

The air bearing 2 air bearing 2 is, as shown in FIGS. 8 and 9, an air diaphragm 69 formed by molding a circular remembering slack predetermined thickness rubber bodies of the center thereof, a rectangular plate The center portion 69a is fixed to the air bearing substrate 68 with a bolt 72 via a center pressing member 70, while the outer peripheral edge portion 69b is fixed via an annular peripheral pressing member 71. The plurality of bolts 73, 73,.
It is configured to be fixed in an airtight manner. The air diaphragm 69 has a plurality (two in this embodiment) of relatively large-diameter main air ejection holes 75 formed in the vicinity of the central portion thereof, and bulges out in an annular shape on the transfer floor surface G. A plurality of small-diameter auxiliary air ejection holes 76, 76,... Are annularly formed at predetermined intervals at a position slightly inward in the radial direction from the opposed annular bulging portion 69c.

The air bearing substrate 68 faces an air chamber 79 surrounded by the air bearing substrate 68 and the air diaphragm 69.
By supplying pressurized air into the air chamber 79 through the air introduction pipe 78, the air diaphragm 69 itself expands while the main air ejection holes 75, 7 are inflated.
5 and the auxiliary air outlets 76, 76,...
9 and leaks to the periphery through the lower surface side, an air film is formed between the air diaphragm 69 and the transport floor G, and the transport base is passed through the air bearings 2, 2,. Numeral 1 is lifted off the transfer floor G. When the transfer base 1 is lifted by the air bearings 2, 2,..., The coefficient of friction between the air bearings 2, 2,. And become extremely small,
The transfer base 1 can be easily moved along the plane direction of the transfer floor G by receiving a small force such as human power from the side.

However, if the friction coefficient is extremely small as described above, if the friction coefficient is simply operated by human power, the running property, the turning property, and the fixed position holding property are poor, and various inconveniences are caused. It is on the street. For this reason, in this embodiment, as described later, a drive mechanism or the like that mechanically generates a driving force is attached to the transport base 1 so as to ensure the traveling performance of the transport base 1 and the like. Details will be described later.

On the other hand, the floating action of the transfer base 1 by the air bearing 2 as described above is based on the condition that the formation of the air film by the air jetted from the air bearing 2 is properly maintained. In this case, in the conventional general air bearing 2, the central portion 6 of the air diaphragm 69 is used.
Since only the main air ejection holes 75 and 75 are provided in the vicinity of 9a, for example, when the air bearing 2 rides on the projection strip 77 as shown by a chain line in FIG.
In the case where the air bearing 2 approaches the groove, the flow of the ejected air is restricted by the protrusion 77 or the groove at a portion located outside the protrusion 77 or the groove with respect to the center of the air bearing 2. As a result, it is difficult to form an air film, and as a result, it may be impossible to carry the film in a floating state, which is a serious problem in the function of the carrying device.

However, the air bearing 2 of this embodiment
As described above, in addition to the two main air ejection holes 75, 75 in the air diaphragm 69, a large number of auxiliary air ejection holes 76, 75 are located slightly inside the annular bulged portion 69c facing the transfer floor surface G. Are formed, even if the air bearing 2 rides on the projection strip 77, the auxiliary air ejection hole 76 is closed by the projection strip 77 in the initial stage of riding, so that a slight friction is generated. Although the resistance is increased, the projections 77
Auxiliary air outlets 76, 76,.
An air film is formed by the air ejected from the fins, and the ridges 77 can be passed over smoothly without substantially increasing the frictional resistance.

Further, in the case where four air bearings 2, 2,... Are arranged on the lower surface side of the rectangular transfer base 1 as in this embodiment, particularly, the transferred object is a super heavy object. When the position of the center of gravity is high, rolling tends to occur during the conveyance, and the air pressure alternately increases and decreases between the pair of air bearings 2, 2 arranged in the rolling direction in accordance with the rolling. Change. in this case,
If this air pressure change cycle matches the natural frequency of the roll portion, a resonance phenomenon occurs, and the roll amplitude is expected to increase, resulting in a dangerous state. For this reason, in this embodiment, as shown in FIG. 10, among the four air bearings 2, 2,... In this case, an air piping structure is adopted which can attenuate the increase and decrease of the internal pressure at an early stage by mutual interference to suppress the roll and achieve the early convergence as described above. That is, as shown in FIG. 10, an air conduit 26 connected to a pressurized air supply source (not shown) is branched at its end into two paths, one of which is further branched into two. To form branch conduits 80A and 80B, which correspond to air introduction pipes 78 and 78 of the corresponding air bearings 2 and 2, respectively.
Connect to 78. Similarly, the other branch path is further branched into two branch pipes 80C and 80D, and the air introduction pipes 78 and
78. Further, in each of the two independent branch paths, two branch lines 80 are provided.
A and 80B, and the branch pipes 80C and 80D are connected to the connecting pipes 8 at positions near the air bearing 2 respectively.
2 and 83. In the figure, reference numeral 81 denotes an accumulator.

With such a piping structure, in the event of a roll, when the roll occurs, the air bearing 2 on the side of the branch line 80A and the air bearing 2 on the side of the branch line 80B, and the side of the branch line 80C. Pressure is transferred between the air bearing 2 and the air bearing 2 on the side of the branch conduit 80D, and the mutual interference suppresses the roll and promotes the convergence.

Driving Mechanisms 3 and 4 The first driving mechanism 3 and the second driving mechanism 4 both move the transport base 1 back and forth or right and left, and function as a turning fulcrum or a turning drive wheel as required. Although the arrangement direction is different, the structure itself is the same, but the specific structure and the like will be described using the second drive mechanism 4 as an example.

As shown in FIGS. 4 and 5, the second drive mechanism 4 includes a swing arm 4 having a pair of left and right side plates 45 and 46.
Four. The rocking arm 44 has a base end portion which is spaced apart from and opposed to a first bracket 42 of a fixed plate 41 fixed to a substrate 40 provided on a side portion of the vertical beam member 31. Between the pair of brackets 4 and the second bracket 43.
2, 43 and the first bracket 4
The drive shaft 50 is rotatably driven by an air motor 49 fixed to 2 so as to be vertically swingable. The drive shaft 50 is provided with a drive gear 52, while the axle 51 is provided with a ring gear 54. The ring gear 54 is connected to the drive gear 52 via an idle gear 53. Therefore, the second
The drive wheel 7 is driven by the air motor 49 to drive the gears 5.
It is driven to rotate via 2, 53, 54.

Further, an air spring mounting plate 47 is provided at the tip of the swing arm 44, and between the air spring mounting plate 47 and the supporting members 39, 39 on the side of the transport base 1. A pressure air spring 58 that expands and contracts by supply and discharge of pressurized air is disposed. Also,
The intermediate portion of the swing arm 44 and the first bracket 42
A pulling air spring 59 is arranged between the fixed support plate 55 and the fixed support plate 55. The air spring 58 for pulling down and the air spring 59 for pulling up are shown in FIG.
When the lifting air spring 59 is in the inflated state as shown in the solid line, the pressing air spring 58 is in a contracted state and the swing arm 44 is moved upward. Conversely, the pressing air spring 58 is When the air spring 59 is in an inflated state as shown by a chain line in the figure (see reference numeral 58 '), the pulling air spring 59 is in a contracted state (see reference numeral 59') so that the swing arm 44 can be moved downward. , Its operation mode is set in conjunction. Therefore, in the state shown by the solid line in FIG. 5, the second drive wheel 7 attached to the swing arm 44 is moved upward with the upward displacement of the swing arm 44, and is in a state of being lifted from the transfer floor surface G. (Hereinafter, this state is referred to as a raised position of the second drive wheel 7), and in the state shown by a dashed line in the figure, the second drive wheel 7 descends with the downward movement displacement of the swing arm 44. Then, a predetermined pressing force (contact pressure) is applied to the transfer floor surface G, and a predetermined frictional resistance is developed between the transfer floor surface G and the transfer floor surface G, so that a required traction force can be generated. This state is referred to as a rolling position of the second drive wheel 7).

The pressing force of the second driving wheel 7 against the conveying floor G at the pressing position can be easily controlled by adjusting the air pressure supplied to the pressing air spring 58 by operating a valve. Therefore, it is possible to maintain the pressing force at an appropriate value (in other words, to maintain the traction force of the second driving wheel 7 at an appropriate value) even when the transfer floor surface G has a protrusion or a groove. It becomes. Further, since the position setting of the second drive wheel 7 to the lowered position and the raised position is both performed mechanically and forcibly by the air springs 58 and 59, the second drive wheel 7
Is more reliable.

The second drive mechanism 4 and the first drive mechanism 3 having the same structure are mounted on the transfer base 1 in the following arrangement as shown in FIG. ing. That is, the first drive mechanism 3 moves the first drive wheel 6 at the center position of the transport base 1 where the longitudinal center line L ₁ and the horizontal center line L ₂ of the transport base 1 intersect. the direction line is attached in a state of allowed meeting the above longitudinal center line L _1. On the other hand, the second drive mechanism 4
Is mounted in a state in which the second driving wheel 7 running direction line at a position offset in the lateral outward direction than the first driving mechanism 3 was allowed conform to the lateral direction center line L _2. Accordingly, the traveling directions of the first driving wheel 6 and the second driving wheel 7 are orthogonal, and the transport base 1 is moved back and forth by the first driving wheel 6.
Will be moved left and right.

The stable movement mechanism 9, 10 in the first stable moving mechanism 9 and the second stable moving mechanism 10, the transfer base 1 by the respective drive mechanisms 3 and 4 to suppress both lateral flow of the transport base 1 This is for securing the straightness at the time of forward and backward movement and at the time of right and left movement.
Since the stable moving mechanism 9 and the second stable moving mechanism 10 have the same structure, the structure and the like of the second stable moving mechanism 10 will be described here as an example.

As shown in FIG. 6, the second stable moving mechanism 10 includes a support member 60 projecting from a side of the stringer 31.
Air cylinder 61 fixedly arranged downward with respect to
A second stable wheel 12 having a predetermined diameter via a support bracket 65
Are rotatably supported. When the air cylinder 61 is in a contracted state, the second stable wheel 12 is moved to the transfer floor surface G as shown by a solid line in FIG.
Is set at a position where the air cylinder 61 is extended, and when the air cylinder 61 is extended, as shown by a dashed line in FIG. Is set to. The rolling force at the rolling position of the second stable wheel 12 can be easily controlled by adjusting the air pressure supplied to the air cylinder 61 by operating a valve, as in the case of the driving wheels 6 and 7 described above. I have.

[0048] Such configuration as the first stable moving mechanism 9 of the second stable moving mechanism 10, as shown in FIG. 1, the first stable wheel first stable moving mechanism 9 is in the straight ahead direction center line L on the ₁ 11 is aligned with the front-rear direction center line L _1, and the second stable moving mechanism 10 changes the traveling direction of the second stable wheel 12 on the left-right direction center line L _2. They are arranged in a state of being matched in direction center line L _2.

The swiveling drive mechanism 13 turning drive mechanism 13, as shown in FIG. 7, the crossbeam 3
The turning drive wheel 14 is attached via a support bracket 66 to an air cylinder 63 fixed to a support member 62 provided on the side of the second unit 2, and an air motor 64 with a built-in reduction gear is attached to the support bracket 66. Thus, the turning drive wheel 14 can be driven to rotate.

Therefore, in the turning drive mechanism 13, the turning drive wheel 14 is pulled up and down by a solid line (indicated by reference numeral 1) by the expansion and contraction of the air cylinder 63.
4 '), the upper and lower rolling positions can be selectively set, and the turning drive wheel 14 is driven by the air motor 64 and set to the rolling position to thereby turn the turning drive wheel 14. Thus, a predetermined traction force can be generated.

[0051] Such a configuration of the turning drive mechanism 13, as shown in FIG. 1, at a position opposite from the first stable moving mechanism 9 on the longitudinal center line L _1, the turning drive wheels 14
The running direction of are arranged in a state of a direction orthogonal to the longitudinal center line L _1.

Other Structures Arms 16 and 16 are formed on the front surface 1a and the rear surface 1b of the transfer base 1, respectively, and the arms 16 and 16 have handles 15 and 1 for manual operation.
5 are provided. On the upper surfaces of the arms 16, 16, an operation panel 17 for operating the air bearings 2, 2,..., The driving wheels 6, 7, the stabilizing wheels 11, 12, the turning drive wheels 14, and the like is provided. , The driving wheels 6 and 7 and the stable wheel 1
The operating positions of the turning drive wheels 14 are displayed (i.e.,
A display panel 18 of a pressure indicator type for displaying whether each of them is set to a lowered position or a raised position is provided, and a pendant operating device 19 for remote control is connected.

The vertical beam members 31 and 3 of the transport base 1 are also provided.
The jack mechanisms 30, 30,... Each composed of a hydraulic cylinder are arranged on the lower surface side of both front and rear ends of the unit 1. The transport base 1 lands on the transport floor G by the grounding plates 37, 37,... When the operation of the air bearings 2, 2,. This is for mechanically pushing it up when it is in the up position. Further, traveling roller mechanisms 29, 29,... Having a revolving function can be mounted near the respective jack mechanisms 30, 30,. The mounting state is shown for convenience). Each of the traveling roller mechanisms 29, 2
9,... Enable the transfer base 1 to be moved as soon as possible when the levitation transfer by the air bearing 2 is difficult. Only when it is necessary to move the transport base 1, the transport base 1 is mounted with the jack mechanisms 30, 30,. Each of the traveling roller mechanisms 29, 29,... Is mounted, and the transport base 1 is lowered by the jack mechanisms 30, 30,. In the state
The transport base 1 can be moved in a required direction by the rolling operation of the traveling roller mechanisms 29, 29,... And the turning function.

Further, in order to prevent the dust on the transfer floor G from being scattered to the surroundings by the air jetted from the air bearing 2, the transfer base 1 has a dust collecting device 2 described below.
0 is equipped. That is, as shown in FIG. 1, a dust collecting opening 24 penetrating from the upper surface to the lower surface is formed in the vicinity of the center of the transport base 1, and a duct 23 is connected to the dust collecting opening 24. Connect the end to connecting hose 2
2, and connected to a suction port (not shown) of the dust collector 21;
The scattering dust on the lower surface side of the transport base 1 can be collected by the dust collector 21. Also, in order to make the dust collecting action of the dust collector 21 more effective,
Around the transfer base 1, as shown in FIGS.
The shielding member 36 is mounted. This shielding member 36
As shown in FIGS. 11 and 12, for example, a support plate 84 made of MC nylon belt-like plate material and attached to a lower end portion around the transfer base 1 is supported in an abutting state from the outside. In this case, the bolt hole on the shield member 36 side is a long hole 86 extending in the vertical direction, and the support bolt 85 is inserted into the long hole 86 and the support bolt 85 is screwed. By setting the degree to such an extent that the movement of the shielding member 36 is permissible, the shielding member 36 can be moved vertically along the elongated hole 86. The length of the shielding member 36 in the vertical direction and the length of the elongated hole 86 can be set even when the transport base 1 is in a floating state as shown by solid lines in FIGS. Even when the platform 1 is in a lowered state (in this case, the position of the transport floor surface G with respect to the transport base 1 is shown by a dashed line (see reference numeral G ')), the lower end of the shielding member 36 is both transported. It is set appropriately so as to be in contact with the floor surface G so that the space on both sides thereof can be partitioned by the shielding member 36. Therefore, by operating the dust collector 21 by suction, air in the space below the transport base 1 is sucked.

In this embodiment, the shielding member 36 is disposed around the transport base 1 so that the shielding members 36 integrally surround the air bearings 2, 2,. However, in another embodiment of the present invention, for example, each of the air bearings 2, 2,.
It is also possible to form a set of two and surround them in a two-part state. Further, the shielding member 36 does not need to be limited to the configuration as in this embodiment, and various structures are conceivable. For example, the shielding member 36 is formed of a plate material that can be flexibly deformed. The shielding member 36 can be bent by following the up and down movement to secure the sealing performance.

In FIG. 1, reference numeral 26 denotes an air conduit for supplying pressurized air to the air bearings 2, 2,..., And open / close valves 27, 27 at both ends of the air conduit 26, respectively. Is provided, and an air supply hose 28 may be connected to any one end of the air conduit 26 according to the working situation. Further, reference numeral 33
Is a base plate 33 disposed at a connection portion between the vertical girder member 31 and the horizontal girder member 32. A mount as shown in FIGS. 2 and 3 is provided above the four base plates 33, 33,. 34 are fixedly arranged. And this stand 34
An object to be transported is placed and fixed on the upper side.

[0057] Next, the operation of conveying using conveying apparatus Z ₁ having such a structure on ordination be described.

[0058] In carrying operation, first, an air bearing 2,2, cut off air supply to ..., ground plate 37, 37 a conveying device Z _1, allowed placed on the transport floor surface G through .. In this state, a predetermined object is placed on the gantry 34 and fixed.

Thereafter, each of the above air bearings 2, 2,
..Introducing pressurized air into each of the air bearings 2,2
.. while inflating the air diaphragm 69, and the main air outlets 75, 75 and the sub air outlets 76, 7 thereof
Air is blown out of each air bearing 2,
2, by forming an air film to float the conveyance device Z ₁ between ... and conveying the floor G. In this state, the movement since respective air bearing 2,2, frictional resistance between the the conveying floor G · · very small, it easily by the conveying device Z ₁ person to push-pull Although it is possible to, the operation is difficult rectilinear, etc. can not be obtained since in this state is the conveying device Z ₁ is a movement of statically indeterminate.

[0060] Therefore, in those in this embodiment, in a state of being floated conveying device Z ₁ as described above, is operated in response to the transport direction of the respective driving wheels 6 and 7 and the stabilizing wheels 11 and 12 Further, in addition to these drive wheels 6, 7, etc., corresponding to a desired turning mode, the above-mentioned turning drive wheels 14 are appropriately operated so as to secure a transfer operation with good operability.

[0061] That is, first of all, in a state of being floated above the conveying device Z _1, until the start of the movement to actually predetermined direction from the flying state, for example by factors of the gradient or the like conveying the floor should the conveying device Z ₁ retains its position so as not to inadvertent movement, in this case, the respective driving wheels 6 and 7, of the stabilizing wheels 11 and 12 and the turning drive wheels 14, At least two of them are set at the rolling-down position, and the conveying device Z
By simultaneously and reliably restrict ₁ with horizontal movement pivots and the, fixing and holding the conveying device Z ₁ remains in its position.

Next, when performing transport work by moving the transfer device Z ₁ is appropriately selectively operated in accordance with the respective driving wheels 6 and 7 and the like to a desired transport mode. For example, when it is desired to move back and forth transporting apparatus Z ₁ in the stopped state from that position, a first drive wheel 6 is set in both the pressing position only two of the first stabilizing wheel 11, other wheels Set all to the raised position. Then, in this state, the air motor 49
And the transport device Z ₁ is pulled by the traction force of the first drive wheel 6.
Is moved back and forth. In this case, the first drive wheels 6
And the first stable wheel 11 are both on the front-rear center line L ₁ and their running directions are aligned with the front-rear center line L _1. when for towing move the Z _1, the conveying apparatus Z ₁ even for some reason (e.g., such as the slope of the transport floor G)
To be the turning force around the first drive wheel 6 acts, by which is prevented by the first stable wheel 11, the conveying device Z ₁ is neither causing cross flow, first drive The wheel 6 moves forward and backward accurately in the running direction.

[0063] On the other hand, when it is desired to lateral movement of the conveyor device Z ₁ from its position, the second drive wheel 7 is set to both pressing position only two of the second stabilizing wheel 12, other wheels all Set to the raised position. In this state, by operating the air motor 49 to move the conveying device Z ₁ in the lateral direction in the traction force by the second driving wheel 7. Again, since the second drive wheel 7 and the second stabilizing wheel 12 and is there both on the right and left direction center line L ₂ and their traveling direction is caused to coincide with left and right direction center line L ₂ , The transfer device Z ₁
Moves left and right in the running direction of the second drive wheel 7.

As described above, during the forward and backward movement or the left and right movement, the transport device Z _{1 is formed} by the combination of the first drive wheel 6 and the first stable wheel 11 and the second drive wheel 7 and the second stable wheel 12.
Since the straightness is ensured for the operator need not adjust the direction of the conveying device Z ₁ by grasping the handle 15 during transport. For this reason, the operator does not always need to perform an operation on the operation panel 17, and can perform a remote operation using the pendant operation device 19. Then, according to the operation in such a pendant operating device 19, when the worker is transported in a location that is not Tachiire directly, such as worker narrow transport path is difficult to accompany the conveying device Z _1, or Even when the transported object is large and the forward view of the worker is obstructed by the transported object, the transport operation can be performed accurately without any trouble, and the operability is further improved. Is obtained.

On the other hand, depending on the bending / bending state of the transport path, the forward / backward movement and the left / right movement alone cannot cope, and a turning operation may be required. In such a case, various turning modes can be realized by appropriately selecting and operating the driving wheels 6 and 7, the stable wheels 11 and 12, and the turning drive wheels 14 as described below. An accurate transport operation is achieved regardless of the conditions.

[0066] For example, in the case of fixed position pivots the conveying device Z ₁ sets the with the first drive wheel 6 turning drive wheels 14 only to the pressing position, setting all of the other wheels lifted position, Furthermore, by the first drive wheel 6 is driven only turning drive wheels 14 without driving the forward rotation side or reverse side, the conveying device Z ₁ is the turning drive wheel as the turning center of the first drive wheel 6 It turns to a fixed position by the traction force of No. 14. In this case, only the first drive wheel 6 is set to the pressing position, when the swing drive wheel 14 was set which similarly pulled up position and the other wheel, the conveying device Z ₁ by a manual operation It can be rotated to a fixed position.

[0067] Also, when turning the conveying device Z ₁ eccentric state can take various aspects, such as:. That is, the first eccentric turning mode is the first stable wheel 11
The second drive wheel 7 and the second drive wheel 7 are both set to the rolling-down position, and the second drive wheel 7 is rotationally driven in a predetermined direction, so that the transport device Z ₁
Is turned around the first stable wheel 11 by the traction force of the second drive wheel 7.

In the second eccentric turning mode, the second stable wheel 1
2 and the first drive wheel 6 are both set to the rolling-down position, and the first drive wheel 6 is rotationally driven in a predetermined direction.
₁ is the first drive wheel 6 centered on the second stable wheel 12
This is a case where the vehicle is turned by the traction force.

In the third eccentric turning mode, the second driving wheel 7
And a second driving wheel 7 is driven to rotate together with the rotation drive wheel 14 is set to both pressing position, the conveying device Z ₁ second
This is a case where the vehicle is turned around the turning drive wheel 14 by the traction force of the drive wheel 7.

In the fourth eccentric turning mode, the first stable wheel 1
If it sets to both pressing position and 1 and the turning drive wheels 14 revolving drive wheel 14 causes the rotation driven to pivot by pulling force of the turning drive wheels 14 a conveying device Z ₁ around the first stabilizing wheel 11 It is.

In addition to the above, there is a case where the second drive wheel 7 and the turning drive wheel 14 are both set to the rolling-down position and the turning drive wheel 14 is rotationally driven, although slight side slip occurs. When both the bistable wheel 12 and the turning drive wheel 14 are set to the rolling-down position and the turning drive wheel 14 is rotationally driven, turning is possible.

By appropriately combining such a fixed position turning, a plurality of eccentric turnings, and the above-described front-back movement and left-right movement, an accurate and safe transfer operation can be achieved even under various transfer path conditions. . Further, the stop during the transportation or the stop during the turning is achieved by stopping the driving of the driving wheels 6, 7 and the like. Further, the stop holding after the transferred object is transferred to the predetermined position is the same as the stop holding before the start of the transfer described above.

In such a transfer operation, it is important that the operator surely grasps the operating state of the drive wheels 6, 7 and the like. It is arranged under the stand 1 and it is difficult for an operator to directly see it. In this case, in this embodiment, each of the driving wheels 6 and 6 is provided on the display panel 18 as described above.
Since the operating states of the driving wheels 6, 7 and the like are displayed, the operator can always indirectly grasp the operating states of the driving wheels 6, 7 and the like, indirectly. In addition, a highly safe transport operation is realized.

Further, in this embodiment, since the main purpose is to transport a super-heavy object having a particularly high center of gravity, in order to carry out such a transporting operation safely and accurately, the projecting strip 77 is required to be provided on the transport floor surface G. operation and during overcoming of the air bearing 2 in the case where there is Toka groove, but a roll phenomenon of the transport device Z ₁ and the conveyed object is a problem, of such a problem, the air as described above for the former In addition to the main air outlets 75, 75 conventionally provided in the air diaphragm 69 of the bearing 2, a number of auxiliary air outlets 76, 7 are provided.
Are provided to prevent the air film from disappearing when the protruding strip 77 or the like is passed over, and the latter is connected to the air pipes of the air bearings 2, 2,. 83 to provide the respective air bearings 2,
2,... Each of which is addressed by utilizing the interfering action of pneumatic pressure between each other, whereby even the special transported object as described above can be transported safely and accurately. is there.

[0075] Further, in the conveyance apparatus Z ₁ of this embodiment includes a dust collecting device 20 in order to prevent deterioration of the surrounding environment at the time of conveyance. That is, since air is blown out from each of the air bearings 2, 2,... Toward the transfer floor G side during transfer, dust falling on the transfer floor G is wound up by the blown air and In particular, when the dust is a substance having a property unfavorable for the human body, for example, a radioactive substance, the influence of the dust is hard to overlook.
However, in this embodiment, the surroundings of the transport base 1 are surrounded by the shielding member 36, and the air in the space below the transport base 1 surrounded by the shielding member 36 is passed through the duct 23 through the dust collector. Since the dust is sucked into the dust collecting member 21 and collected therein, dust on the conveying floor surface G is reliably prevented from being scattered around, thereby maintaining the surrounding environment. It is intended.

In the event of an emergency, for example, when it is difficult to float and convey the air bearings 2, 2,... Due to a malfunction, the jack mechanisms 30, 3 are used.
The transport base 1 is forcibly pushed up by 0,... And the traveling roller mechanisms 29, 29,. Can be continued, so that operational reliability is enhanced.

B: Second Embodiment FIG. 13 shows a transport apparatus Z according to a second embodiment of the present invention.
₂ is shown. Conveying apparatus Z ₂ of the second embodiment is one in which the same effect has and therewith the same base structure as the conveying apparatus Z ₁ according to the first embodiment are obtained if, the first embodiment The configuration of the drive mechanism is different from that of the example. Therefore, here, only the configuration of the drive mechanism will be described in detail, and the description of the first embodiment will be referred to for other components.

[0078] In this transfer apparatus Z ₂ of the second embodiment, as shown in FIGS. 13 to 16, the drive mechanism 5 only in the center position of the transport base 1 is provided, it said by the single driving mechanism 5 The forward and backward movement and the left and right movement of the transfer base 1 are realized. With this configuration, the structure of the apparatus is simplified as compared with the first embodiment because the number of drive mechanisms is small. Therefore, cost reduction by reducing the number of parts and improvement in handling by weight reduction can be expected. Hereinafter, the structure of the driving mechanism 5 will be specifically described.

As shown in FIGS. 14 to 16, the driving mechanism 5 includes a rotating base 88 and a swinging base 89, which will be described later. The rotating base 88 and the swinging base 89 are both formed of arm members having a predetermined length, and
The base end 88a of the base member 89 and the base end 89a of the swinging base 89 are connected to each other by a pivot 90 so as to be rotatable relative to each other, and these can be opened and closed with respect to the pivot 90.

The rotating base 88 has a support plate 92 on the upper surface side thereof, and a rotating shaft 93 having a predetermined diameter is projected and fixed to the upper surface of the support plate 92. The rotating base 88 moves the rotating shaft 93 to the lower side of the support girder member 25, which is disposed across the pair of cross girder members 32, 32 at the center of the transport base 1. And a pair of upper and lower bearings 94 and 95 are arranged on both upper and lower sides of the support girder 25, and the rotating shaft 93 is fixed by a fixing bolt 97 via a pressing plate 96 to prevent the bearing from coming off. It is pivotable about a rotation shaft 93.
Further, an air spring mounting plate 103 is attached to a tip end portion 88b of the rotating base 88.

The swinging base material 89 has an air spring mounting plate 104 attached to the tip thereof so as to face the air spring mounting plate 103 of the rotating base material 88, and an air motor 102 at an intermediate position. The drive wheels 8 that are driven to rotate are mounted via an axle 91.
Then, the air spring mounting plate 10 of the swinging base material 89 is formed.
An air spring 99 that expands and contracts by supplying and discharging pressurized air between the air spring 99 and the air spring mounting plate 103 of the rotating base 88.
Is mounted, and a coil spring 100 for urging the swinging base material 89 in the pulling direction is disposed between the rotating base material 88 and the swinging base material 89.

Accordingly, when the air spring 99 is in a contracted state, the swing base 89 is pulled up to the rotating base 88 by the reduced coil spring 100, and the drive wheel 8 is set to the raised position. On the other hand, when the air spring 99 is in the inflated state, the oscillating base material 89 is lowered against the urging force of the coil spring 100 by the expansion force of the air spring 99, and the drive wheel 8 is lowered. Set to position. That is, the drive wheel 8 can be selectively set to the lowered position and the raised position only by the operation of supplying and discharging the pressurized air to and from the air spring 99, and the drive wheel 8 is set to the lowered position. the conveying device Z ₂ in by driving this by air motor 102 is made to be blamed move toward the running direction of the drive wheel 8.

In this embodiment, the driving wheels 8
Is raised by the coil spring 100, but the present invention is not limited to such a configuration, and it is a matter of course that the coil spring 100 can be replaced with another mechanism such as an air spring. It is.

Further, in this embodiment, in order to enable selection between forward and backward movement and left and right movement by the single driving mechanism 5, the rotation between the rotating base 88 and the transport base 1 is performed. An air cylinder 101 is provided.
The expansion / contraction movement of the drive mechanism 5 allows the drive mechanism 5 to take a posture at the time of forward / backward movement shown in FIG. 14 and a left / right movement posture shown in FIG.

In this embodiment, the turning of the drive mechanism 5 is performed by the air cylinder 101 as described above. However, the present invention is not limited to this. It is needless to say that other mechanisms such as a rotation mechanism using an air motor can be used.

[Brief description of the drawings]

FIG. 1 is a plan view of a transport device according to a first embodiment of the present invention.

FIG. 2 is a view taken in the direction of arrows II-II in FIG.

FIG. 3 is a view taken in the direction of arrows III-III in FIG. 1;

FIG. 4 is a plan view of the drive mechanism shown in FIG.

FIG. 5 is a view taken in the direction of arrows VV in FIG. 4;

FIG. 6 is a side view of the stable movement mechanism shown in FIG. 1;

FIG. 7 is a front view of the turning drive mechanism shown in FIG. 1;

FIG. 8 is a longitudinal sectional view of the air bearing shown in FIG.

FIG. 9 is a view as viewed in the direction of arrows IX-IX in FIG. 8;

FIG. 10 is an air pipe route diagram of each air bearing shown in FIG. 1;

11 is a longitudinal sectional view of the shielding plate shown in FIG.

FIG. 12 is a view taken in the direction of arrows XII-XII in FIG. 11;

FIG. 13 is a plan view of a transport device according to a second embodiment of the present invention.

FIG. 14 is a plan view of the drive mechanism shown in FIG.

FIG. 15 is a state change diagram of the drive mechanism shown in FIG.

FIG. 16 is a view taken in the direction of arrows XVI-XVI in FIG. 14;

[Explanation of symbols]

1 is a transport base, 2 is an air bearing, 3 is a first drive mechanism, 4 is a second drive mechanism, 5 is a drive mechanism, 6 is a first drive wheel, 7 is a second drive wheel, 8 is a drive wheel, 9 Is a first stable moving mechanism, 10 is a second stable moving mechanism, 11 is a first stable wheel, 12
Is a second stable wheel, 13 is a turning drive mechanism, 14 is a turning drive wheel, 15 is a handle, 16 is an arm, 17 is an operation panel, 1
8 is a display panel, 19 is a pendant operating device, 20 is a dust collector, 21 is a dust collector, 22 is a connecting hose, 23 is a duct,
24 is a dust collecting opening, 25 is a supporting girder material, 26 is an air conduit,
27 is an on-off valve, 28 is an air supply hose, 29 is a traveling roller mechanism, 30 is a jack mechanism, 31 is a vertical girder material, 32 is a horizontal girder material, 33 is a base plate, 34 is a stand, 35 is a bumper member, and 36 is a shield. Member, 37 is a ground plate, 38 is an auxiliary cross beam, 39 is a support, 40 is a substrate, 41 is a fixed plate, 4
2 is a first bracket, 43 is a second bracket, 44 is a swing arm, 45 is a side plate, 46 is a side plate, 47 is an air spring mounting plate, 49 is an air motor, 50 is a drive shaft, 51 is an axle, and 52 is a drive gear. , 53 are idle gears, 54 is a ring gear, 55 is a fixed support plate, 56 is a movable support plate, 57
Is a fixed support plate, 58 is a lowering air spring, 59 is a lifting air spring, 60 is a support member, 61 is an air cylinder, 62 is a support member, 63 is an air cylinder, 64 is an air motor, 65 is a support bracket, and 66 is a support bracket. Is the support bracket,
68 is an air bearing substrate, 69 is an air diaphragm,
70 is a center pressing member, 71 is a peripheral pressing member, 7
2 is a bolt, 3 is a bolt, 75 is a main air ejection hole, 76 is a sub air ejection hole, 77 is a protrusion, 78 is an air introduction pipe, 7
9 is an air chamber, 80 is a branch pipe, 81 is an accumulator, 82 is a connection pipe, 84 is a support plate, 85 is a support bolt, 86 is a long hole, 88 is a rotating base, 89 is a swing base, 9
0 is a pivot shaft, 91 is an axle, 92 is a support plate, 93 is a rotating shaft, 94 is a bearing, 95 is a bearing, 96 is a push plate, 97 is a fixing bolt, 98 is a turning mechanism, 99 is an air spring,
100 is a coil spring, 101 is an air cylinder, 1
02 the air motor, 103 and 104 air spring mounting plate, Z ₁ and Z ₂ are conveying device.

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Tsukasa Fujimura 1394 Nishitoyoi, Katsumatsu-shi, Yamaguchi Prefecture Kotetsu Industrial Co., Ltd. (JP, A) JP-A-4-164708 (JP, A) JP-A-59-120562 (JP, A) Hydraulic and pneumatic design, 17 [9] (1979) Nikkan Kogyo Shimbun 7-12

Claims (5)

(57) [Claims] An air bearing formed on a lower surface of a transfer base on which an object to be transferred can be placed on an upper surface thereof with an opposite transfer floor surface by jet air. while equipped, to the transfer base, selectively positioned between a pulling position raised from the pressing position and該搬Okuyuka surface which is pressed with a predetermined contact pressure with the conveyor floor while being driven by the air motor A plurality of drive wheels that can be set
Separation setting in at least two directions where the running direction of the driving wheel is orthogonal
And a specific one of the plurality of drive wheels
The drive wheel is located at the approximate center position in the plane direction of the transfer base.
It is arranged in a state where it is located, and from the approximate center position in the plane direction of the transfer base to the side.
When it is driven by an air motor,
Both are pressures that are pressed against the above conveying floor surface with a predetermined contact pressure.
A lower position, a lifting position lifted from the transfer floor surface,
The turning drive wheels whose position can be selectively set between
Of the traveling direction is centered on the approximate center position of the transfer base.
Arranged in a direction that almost matches the tangent direction of the trajectory circle
Conveying apparatus characterized by the. (2) The driving method of the driving wheel according to claim 1,
In the direction of the line, the transfer floor is pressed with a predetermined contact pressure.
And the raised position raised from the transfer floor
Position can be selectively set between the
In such a case, the vehicle follows the movement of the transfer base.
The well-configured stable wheels change their running direction line
It is noted that the
The transport device to be used. (3) The transported object can be placed on the upper side
Transfer floor facing the lower side of the transfer base
Air vent that can form an air film between
While equipping the ring, At approximately the center of the transfer base in the plane direction, the air
And is in contact with the transfer floor surface
Pressing position with pressure and the transfer floor surface Pull up
Position can be set selectively between the raised position
Single drive wheel at least 90 ° in the direction of travel
Attached so that it can be changed within the angle range of From the approximate center position in the plane direction of the transfer base to the side
When it is driven by an air motor,
Both are pressures that are pressed against the above conveying floor surface with a predetermined contact pressure.
A lower position, a lifting position lifted from the transfer floor surface,
The turning drive wheels whose position can be selectively set between
Of the traveling direction is centered on the approximate center position of the transfer base.
Arranged in a direction that almost matches the tangent direction of the trajectory circle
A transfer device, characterized in that: (4) In claim 3, At least two orthogonal to the drive wheels of the transport base
At a position on the traveling direction line, a predetermined contact pressure
And pushed down from the transfer floor surface
The position can be selectively set between the raising position and
In the lowered position, it follows the movement of the transfer base
Stable wheels configured to run up
Arranged to match the corresponding driving direction line of the driving wheel
A transfer device characterized by being carried out. (5) The method according to claim 1, 2, 3, or 4,
The transfer base is mechanically pushed up from the transfer floor to the transfer base.
Jack mechanism, and the transport base by the jack mechanism.
Can be attached to and detached from the lower surface of the transfer base when
And lowering the transport base while mounted
Makes it possible to land on the transfer floor and move the transfer base
And a traveling roller mechanism.
apparatus.