JP5403967B2 - Knitting transportation cart equipment - Google Patents

Description

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

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

There is no conventional document that discloses a technique for loading and transporting large transported goods on a plurality of transport carts.
Therefore, the present applicant forms a carriage group by arranging a plurality of conveyance carriages having independent conversion type wheel devices proposed in Patent Document 3 at predetermined positions, and conveys a large transported article by this carriage group. I thought about doing (hereinafter referred to as knitting conveyance).
JP2006-224803 JP 2004-195997 A JP 2001-328555 A

  In knitted transport, the operator can get on the driver's seat for each transport cart, and communicate with each other, but this is inefficient. An operator gets into the driver's seat of one transport cart (referred to as a master cart) to drive the master, and sends and receives a knitting steering signal from the master cart via a steering transmission means to a cart (referred to as a slave cart) that is driven. It is more efficient to drive the slave cart in conjunction with

By the way, when trouble occurs in the steering transmission means during such knitting conveyance, there is a problem that the knitting conveyance must be stopped halfway.
An object of the present invention is to solve the above-mentioned problems and to provide a knitting transport carriage facility that can continue knitting transport even if a trouble occurs in a steering transmission means during knitting transport.

The invention according to claim 1 includes a steering angle operated by a plurality of independent conversion type wheel devices (MR1 to MR4, ML1 to ML4, SR1 to SR4, SL1 to SL4) and a steering device (M3, S3). Based on the turning center of the carriage, the operation control unit (M20A, S20A) for calculating the slave shaft target rudder angle of each wheel device from the turning center, and the wheel command for the rudder angle command based on the slave shaft target rudder angle A carriage group is formed by a plurality of carriages (MC, SC, SC1 to SC3) having a steering controller (M20, S20) having a steering angle command section (M20B, S20B) that outputs and steers to the device, respectively, It is a knitting and transporting cart facility that loads and transports large transported goods with a group of carts, and among the multiple carts, one is the master cart (MC) that is the main run, and the rest is the master cart (MC) The slave carts (SC, SC1 to SC3) that are driven are shown, and the arrangement of the carts in the cart group is shown on the master cart steering controller (M20). A knitting mode determining unit (32M) that sets a knitting master axis (MS1 to MS6) by determining a knitting operation mode and a traveling mode indicating a traveling direction of the carriage group, and a steering device (based on a signal of the knitting mode determining unit) A knitting operation control unit that calculates the knitting turning center (OS1 to OS6) of the carriage group from the steering angle of M3) and calculates the knitting slave axis target rudder angle of each wheel device of the master carriage and slave carriage from the knitting turning center ( 20C) are provided on a substrate, a steering transmission means (41A to 41C for outputting the knitting slave axis target steering angle to the steering angle command of the slave carriage, 42,43A～43C, 44) provided from the knitting operation control unit of the master carriage The slave carriage steering controller (S20) operates the slave carriage steering device (S3) at the same operation angle as the steering steering angle of the master carriage steering device (M3) when the steering transmission means fails. Of the master cart A knitting data output unit (52) for obtaining a driven knitting turning center (OS1s to OS6s) at the same position as the center of turning and outputting knitting data capable of steering the wheel device based on the driven knitting turning center to the operation control unit. It is provided.

  According to a second aspect of the present invention, in the configuration of the first aspect, the knitting operation control unit (20C) of the master carriage (MC) is set by the knitting operation mode determination unit (52) according to the knitting operation mode and the travel mode. A knitting master axis target rudder angle calculation unit (33) for obtaining a knitting master axis target rudder angle (θm1 to θm6) based on the knitting master axis (MS1 to MS6) and the steering angle of the steering device (M3); A knitting center calculation unit (34) for determining the knitting turning center (OS1 to OS6) of the bogie group from the knitting master axis target rudder angle, and calculating the knitting slave axis target rudder angle of each wheel device of the slave truck from the knitting turning center. And a knitting slave shaft target rudder angle calculation unit (35).

  According to a third aspect of the present invention, in the configuration according to the first or second aspect, the knitting data includes the positions of the master carriage (MC) and the slave carriages (SC, SC1 to SC3), the wheel devices (MR1 to MR4, ML1 to ML4, SR1 to SR4, SL1 to SL4) slave shaft (SS) position and master cart knitting master axis (MS1 to MS6) position corresponding to knitting mode and traveling mode It is.

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

  According to the first aspect of the present invention, when a large transport object is loaded and transported on a cart group consisting of a master cart and a slave cart each having a plurality of independent conversion wheel devices and a steering controller, steering is performed. When the transmission means fails, the slave carriage determines the same knitting turning center as that of the master carriage from the knitting operation mode and the traveling mode output from the knitting mode determination section and the knitting data output from the knitting data output section. The slave shaft knitting rudder angle of the wheel device is calculated and the wheel device is steered via the rudder angle command section, so that the operators who have entered the driver's seats of the master and slave carts communicate with each other at the same steering angle. By operating the steering device, the slave cart can be driven following the master cart, and the knitting operation can be continued.

  According to the second aspect of the present invention, in the operation control unit of the slave carriage, the driven knitting turning at the same position as the master carriage from the driven knitting master axis and the driven knitting master axis target rudder angle with the same steering steering angle as that of the master trolley. The center can be obtained, and by operating the steering device at the same steering angle as the master cart, the slave cart can be driven to the master cart with high accuracy.

  According to the invention described in claim 3, a knitting progression axis passing through the center in the width direction of the carriage group and a knitting center transverse axis passing through the center in the front-rear direction of the carriage group are obtained from the knitting data, Alternatively, the knitting turning center or the driven knitting turning center can be set on the knitting center transverse axis.

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

  As shown in FIG. 11, the cart C for independent operation has a front driver's seat 2A and a rear driver's seat 2B at the front and rear positions on the lower surface of the cart body 1 on which the loading platform surface 1a on which an object is loaded is formed. Each is provided, and the engine 7 is arranged at the center of the lower surface. In addition, a plurality of sets, for example, four pairs in the front and rear, for example, a total of eight independent conversion type wheel devices R1 to R4, L1 to L4, are provided on the bottom surface portion of the bogie main body 1, The wheel devices R1 to R4 and L1 to L4 are steered via the steering controller 20 by a steering wheel 3 (FIG. 13) which is a steering device provided in 2B.

  As shown in FIG. 12, each of the wheel devices R1 to R4 and L1 to L4 includes a revolving body 11 that is supported by the carriage body 1 so as to be pivotable about a slave shaft SS, and an upper portion that extends obliquely downward from the revolving body 11. A lower arm portion 13 supported by a lower end portion of the arm portion 12 via a horizontal pin 12a so as to be swingable up and down, a suspension cylinder 14 connected between the swing body 11 and the lower arm portion 13, and a lower arm portion 13 A plurality of wheels 17 that are rotatably supported by the axle 15 provided at the lower end of the vehicle via the rotary shaft 15 a and are driven to rotate by the drive motor 16, and the revolving body 11 that is provided on the carriage main body 1. And a steering drive device 18 that steers the wheel 17 about the slave axis SS. The steering drive device 18 is used for deceleration by a hydraulic steering motor 26 (FIG. 11) that is a turning drive device. And it is configured to rotate the swing body 11 via the Ya device. Moreover, as shown in FIG. 13, each wheel apparatus R1-R4, L1-L4 is provided with the steering angle detector 19 which detects the actual steering angle of the wheel 17, respectively.

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

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

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

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

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

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

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

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

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

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

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

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

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

  As shown in FIGS. 1, 5, and 7, the knitting state detector 31 detects the master side connectors 41A to 41C to which the transmission cables 43A to 43C are connected. The single / knitting mode determination unit 32M When the master side connector 41A is in the connected state, it is determined as the tandem knitting mode, when the master side connector 41B is in the connected state, it is determined as the parallel knitting mode, and the master side connectors 41A to 41C are in the connected state. Judged as composite column organization mode. The knitting state detector 31 applies, for example, a fixed voltage to the master side connectors 41A to 41C and measures each voltage of the master side connectors 41A to 41C with a voltmeter, so that the transmission cables 43A to 43C are It is possible to detect the master side connectors 41A to 41C that are connected and whose voltage drops.

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

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

  Slave carts SC, SC1 to SC3 input the knitting operation mode when the steering signal cannot be transmitted or received due to a problem in the steering transmission means including the transmission cables 43A to 43C in the front and rear driver seats S2A and S2B. A manual knitting operation selection switch 51 is provided. The steering controller S20 includes a slave-side single / knitting mode determination unit (knitting mode determination unit) 32S, a steering control unit S20A used during single operation, and a steering control unit M20A or knitting operation control unit of the master cart MC. The steering angle command unit M20B that outputs the steering angle command value to each of the wheel devices SR1 to SR4 and SL1 to SL4 based on the knitting slave axis target steering angle calculated in 20C, and the manual knitting operation selection switch 51 are turned on. A knitting data output unit 53 for outputting knitting data necessary for the knitting operation of the slave carts SC, SC1 to SC3 to the master axis target rudder angle calculation unit S21 is sometimes provided. Instead of the manual knitting operation selection switch 51, the knitting operation data sent from the steering transmission means is stored in a knitting data output unit 53 (to be described later) by a memory or the like, and the steering transmission means sends it to the steering angle command unit S20B. It can also be configured to automatically switch to the manual knitting operation mode when the steering command is not sent.

The steering / steering angle detector S4, the driving mode switching lever S6, and the driver seat selection switch S5 are input to the single / composition mode determination unit 32S, respectively, and steering control is performed with the single / composition mode determination unit 32M. Configured to exchange data. When the driver seats S2A and S2B of the slave carts SC and SC1 to SC3 are selected in the knitting operation, the steering steering angle output from the steering steering angle detector S4 is determined from the single / knitting mode determination unit 32S of the master cart MC. It is transmitted to the single / knitting mode determination unit 32M.
(Manual knitting operation mode)
The manual knitting operation mode is selected when the knitting slave axis target rudder angle cannot be transmitted from the master cart MC to the slave carts SC and SC1 to SC3 due to problems such as the transmission cables 43A to 43C. The master cart MC and the slave cart The operator gets into the predetermined driver seats M2A and S2B of SC and SC1 to SC3, turns on the manual train operation selection switch 51 of the slave carts SC and SC1 to SC3, and communicates with the radio etc. to become the master cart The operator of the MC transmits the steering steering angle of the master cart MC to the operators of the slave carts SC, SC1 to SC3, and the operator who has boarded the slave carts SC, SC1 to SC3 steers the same steering steering angle as the master cart MC. The knitting operation is performed.

  The knitting data output from the knitting data output unit 52 includes the position data (including the knitting progress axis OCL and the knitting center crossing axis OAL) of the master car MC and the slave cars SC, SC1 to SC3, and the knitting master axis of the master car MC. And position data of MS1 to MS6.

  In the operation control unit S20A, the steering controller S20 of the slave carts SC and SC1 to SC3 is operated by the knitting master axis target rudder angle calculation unit 33 from the position of the master cart MC and the slave carts SC and SC1 to SC3 in the knitting data. A knitting progression axis OCL in the front-rear direction passing through the center in the width direction and a knitting center longitudinal axis OAL passing through the center in the front-rear direction of the carriage group are obtained on the knitting progression axis OCL. The symmetrical knitting control or the extended knitting control is performed by obtaining the axes MS1s, MS4s, MS5s, MS6s and the driven knitting turning centers OS1s to OS6s.

  Symmetric knitting control is performed by the slave carts SC, SC1 to SC3 on the opposite side of the master cart MC around the knitting progression axis OCL or the knitting center longitudinal axis OAL orthogonal to the forward direction of the cart group. First, by the single / knitting mode determination unit 32S, the driven knitting master axis MS1s is set at a symmetrical position of the knitting master axes MS1 to MS6 of the master carriage MC around the knitting progression axis OCL or the knitting center longitudinal axis OAL orthogonal to the forward direction. , MS4s, MS5s, MS6s. Next, the knitting master axis target rudder angle is obtained from the steering steering angle detected by the steering steering angle detector S4 by the turning center calculation unit S22, and this knitting master axis target rudder angle is obtained as the knitting progression axis OCL in the forward direction of the carriage group. Alternatively, the knitting center longitudinal axis ACL is reversed to obtain the driven knitting master axis target rudder angles θm1s, θm4s, θm5s, θm6s in the driven knitting master axes MS1s, MS4s, MS5s, MS6s. Further, by the turning center calculation unit S22, in accordance with the knitting operation mode and the traveling mode, the driven knitting master shafts MS1s, MS4s, MS5s, MS6s and the driven knitting master shaft target rudder angles θm1s, θm4s, θm5s, θm6s are driven knitting. The turning centers OS1s to OS6s are obtained on the knitting progression axis OCL or the knitting center longitudinal axis OAL orthogonal to the forward direction of the carriage group.

  The extended knitting control is performed by the slave carts SC, SC1, SC2 on the same side as the master cart MC with the knitting progression axis OCL or the knitting center longitudinal axis OAL orthogonal to the forward direction as the center. First, the driven / knitting master axes MS2, MS3, MS5, MS6 common to the master carriage MC are set by the single / knitting mode determination unit 32S. Next, the knitting master axis target rudder angles θm2, θm3, θm5 in the driven knitting master axes MS2, MS3, MS5, MS6 based on the steering steering angle obtained from the steering steering angle detector S4 by the turning center calculation unit S22. θm6 is obtained, and further, the turning center calculation unit S22 determines the knitting turning centers OS1 to OS6 of the slave carts SC, SC1, SC2 according to the driven knitting master axis target rudder angles θm2, θm3, θm5, and θm6, and the knitting operation mode and the traveling mode. Is set on the knitting progress axis OCL or on the knitting center longitudinal axis OAL.

  Accordingly, when the manual knitting operation selection switch 51 is turned on and the operation mode switching lever S6 is operated, the operation control unit S20A causes the slave cart SC and the parallel knitting mode in the straight traveling mode in the parallel knitting mode as shown in FIG. In the slave carriage SC in the transverse running mode, the first and third slave carriages SC1 and SC3 in the straight running mode in the combined knitting mode, and the second slave carriage SC2 in the transverse running mode in the combined knitting mode are respectively symmetrically knitted. Take control. In addition, the slave cart SC in the transverse running mode in the tandem knitting mode, the slave cart SC in the straight running mode in the parallel knitting mode, the first and third slave carts SC1, SC3 in the transverse running mode in the combined knitting mode, and the composite In the second slave carriage SC2 in the knitting mode and the straight traveling mode, the extended knitting control is performed.

  The procedure for performing the symmetric knitting control is to set the knitting progress axis OCL and the knitting center transverse axis OAL from the knitting data inputted from the knitting data output unit 53 (STEP.11) in the single / knitting mode determination unit 32S (STEP .12), driven knitting master axes MS1s, MS3s, MS5s, MS6s are set to symmetrical positions on the knitting center transverse axis OAL of the knitting master axes MS1, MS3, MS5, MS6s of the master carriage MC (STEP.13). When the steering angle is input from the steering angle detector S4 to the master axis target rudder angle calculator S21 (STEP.14), the master axis target rudder angle calculator S21 calculates the knitting master calculated from the steering angle. The shaft target rudder angle is set as a symmetrical steering angle inverted about the knitting progression axis OAL (for example, if the steering angle input is 15 ° to the right, the steering angle is output at 15 ° to the left), the driven knitting master axes MS1s and MS3s. , MS5s to determine the driven knitting master axis target rudder angles θm1s, θm3s, θm5s (STEP.15). Then, the turning center calculation unit S22 obtains the driven knitting turning centers OS1s, OS3s, OS5s based on the driven knitting master axes MS1s, MS3s, MS5s, MS6s and the driven knitting master axis target rudder angles θm1s, θm3s, θm5s (STEP. 16). These driven knitting turning centers OS1s, OS3s, OS5s are located at the same positions as the knitting turning centers OS1, OS3, OS5 of the master carriage MC. Further, the slave shaft target rudder angle calculation unit S23 obtains the driven knitting slave shaft target rudder angle in each of the wheel devices SR1 to SR4, SL1 to SL4 (STEP.17), and the driven knitting slave shaft target rudder angle is determined as the rudder angle command unit S20B. (STEP.18).

  The procedure for performing the extended knitting control is to set the knitting progress axis OCL and the knitting center crossing axis OAL from the knitting data input from the knitting data output unit 53 (STEP.11) (STEP.21), and further to the master cart MC. The driven knitting master axes MS1s, MS3s, MS5s, MS6s are set at the same positions as the knitting master axes MS1, MS3, MS5, MS6 (STEP.22). When the same steering angle as that of the master cart MC is input from the steering angle detector S4 (STEP.14), the master axis target rudder angle calculation unit S21 calculates the driven knitting master axis target rudder angle θm1s from the steering angle. θm3s, θm5s, and θm6s are obtained (STEP.23). Then, the turning center calculation unit S22 obtains the driven knitting turning centers OS1s, OS3s, OS5s based on the driven knitting master axes MS1s, MS3s, MS5s, MS6s and the driven knitting master axis target rudder angles θms1, θms3, θms5, θm6s ( STEP.24), this driven knitting turning center OS1s, OS3s, OS5s is located at the same position as the master carriage MC. Further, the slave shaft target rudder angle calculation unit S23 obtains the driven knitting slave shaft target rudder angle in each wheel device SR1 to SR4, SL1 to SL4 (STEP.25), and the driven knitting slave shaft target rudder angle is determined as the rudder angle command unit S20B. (STEP.26).

(Tandem organization mode)
The tandem knitting mode will be described with reference to FIGS. 1 and 4.
In this tandem formation mode, the front driver's seat M2A of the master cart MC and the rear driver's seat S2B of the slave cart SC are set as selectable driver's seats, and visibility is easily secured corresponding to the travel mode and the travel direction. The side is selected. When moving forward in the straight traveling mode, the front driver's seat M2A of the master cart MC is selected, and the master cart MC and the slave cart SC are steered based on the operation of the steering wheel M3.

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

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

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

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

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

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

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

  When a trouble occurs in the steering transmission means such as the transmission cable 43A and the knitting operation is not normally performed (STEP.9), the manual knitting operation is selected. In the manual knitting operation, the knitting steering data is output from the knitting data output unit 52 of the slave cart SC to the master shaft target rudder angle calculating unit S21 (STEP. 10), and the manual knitting operation described above is performed.

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

  In the parallel knitting mode, the knitting master axis MS3 in the straight traveling / slanting running mode is the master cart MC and the slave cart on the knitting progression axis OCL that cuts the center in the width direction of the cart group between the master cart MC and the slave cart SC. As shown in FIG. 6 (a), the knitting turning center OS3 is set at the center position between the wheel devices MR1 and SL1 in the foremost row of the SC, and the knitting center transverse axis OAL that crosses the center in the front-rear direction of the carriage group. Set above.

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

  In the manual knitting operation, the slave trolley SC is subjected to the extended knitting control in the straight knitting mode in the parallel knitting mode, and the slave trolley SC is symmetrically controlled in the transverse knitting mode in the parallel knitting mode.

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

  As shown in FIG. 8 (a), the knitting master axis MS5 in the combined knitting mode and in the straight / slanting running mode is the same as the master cart MC on the knitting progression axis OCL that cuts the center in the front-rear direction of the cart group. It is set at the center position between the wheel apparatuses MR1 and SL1 in the foremost row of the slave carriage SC, and the knitting turning center OS5 thereof is the master carriage MC, the second slave carriage SC2, the first slave carriage SC1, and the third slave carriage SC3. It is set on the knitting central transverse axis OAL which crosses the center of the bogie group in between.

  Further, in the combined knitting mode, the knitting master axis MS6 in the transverse running mode is set at the center position between the wheel devices ML4 and SL1 in the forefront on the knitting center transverse axis OAL as shown in FIG. 8 (b). The knitting turning center OS6 is set on the knitting progress axis OCL.

  In manual knitting operation, one slave car on the same side as the master car MC is extended and controlled around the axis perpendicular to the center of the carriage group in the running direction, and the slave car placed on the opposite side is symmetrical It is controlled by knitting control. This is the same in other knitting operation modes described later.

  That is, in the straight traveling mode in the composite knitting mode, there is a master cart MC on the front side around the knitting transverse axis OAL that crosses the center in the running direction of the cart group, and the second slave cart SC on the same front side as the master cart MC is The first slave cart SC1 and the third slave cart SC3 on the rear side opposite to the master cart MC are controlled by symmetrical train control. Further, in the transverse running mode, there is a master cart MC on the front side centered on the knitting progression axis OCL crossing the center in the running direction of the cart group, and the first slave cart SC1 on the same side as the master cart MC is controlled by symmetrical knitting control. Then, the second slave car SC2 and the third slave car SC3 on the opposite side of the master car MC are subjected to the extended knitting control.

(Other knitting modes)
In addition, various knitting operations can be performed depending on the shape and size of a large transported object. For example, as shown in FIG. 10 (a), the slave carriage SC can be arranged diagonally rearward with respect to the master carriage MC. In this case, the knitting progression axis OCL is at a position that traverses the center of the carriage group, and the knitting center transverse axis OAL is set at a position that traverses the center of the carriage group. The knitting master axis MSf in the straight traveling mode is set corresponding to the wheel device MR1 in the front row of the master carriage MC on the knitting traveling axis OCL, and the knitting master axis MSs in the transverse traveling mode is the knitting central transverse axis. It is set corresponding to the wheel device SL1 in the front row on the OAL.

  Further, as shown in FIGS. 10B and 10C, the master cart MC and the first and second slave carts SC1 and SC2 may be arranged at the apex positions of triangles and irregular triangles. In this case, the knitting progression axis OCL is set to a position that traverses the center of the carriage group, and the knitting center transverse axis OAL is set to a position that crosses the center of the carriage group. The knitting master axis MSf in the straight traveling mode is set on the knitting progression axis OCL corresponding to the wheel device MR1 in the front row of the master carriage MC, and the knitting master axis MSs in the transverse traveling mode is the knitting central transverse axis. On the OAL, it is set corresponding to the front row wheel device SL1 or between the front row wheel devices MS4 and SL1.

  Further, as shown in FIGS. 10D and 10E, the master cart MC and the first to third slave carts SC1 to SC3 can be arranged at the apex positions of the rhombus and the parallelogram. In this case, the knitting progression axis OCL is set to a position that traverses the center of the carriage group, and is set to a position that crosses the knitting center transverse axis OAL and the center of the carriage group. Further, the knitting master axis MSf in the straight traveling mode is set corresponding to the front row of wheel devices MR1 and ML1 or between MR1 and SL1 on the knitting progression axis OCL, and the knitting master axis MSs in the transverse traveling mode is On the knitting center transverse axis OAL, it is set correspondingly between the wheel devices SL2 and SL3 in the foremost row.

Furthermore, as shown in FIG. 10F, the master cart MC and the first to fourth slave carts SC1 to SC4 can be arranged at the apex positions of the irregular pentagons.
The steering transmission means is the transmission cables 43A to 43C and its peripheral devices, but may be a wireless transmission device.

  The steering transmission means is the transmission cables 43A to 43C and its peripheral devices, but may be a wireless transmission device.

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

Explanation of symbols

MC master cart SC, SC1 to SC3 Slave carts MR1 to MR4, ML1 to ML4 Wheel devices SR1 to SR4, SL1 to SL4 Wheel devices MS1 to MS6 Knitting master axis OCL Knitting progression axis OAL Knitting center transverse axis OS1 to OS6 Knitting turning center M2A , S2A Front driver seat M2B, S2B Rear driver seat M3, S3 Steering wheel (steering device)
M4, S4 Steering steering angle detector M5, S5 Driving seat selection switch M6, S6 Driving mode switching lever M20, S20 Steering controller M20A, S20A Driving control unit M20B, S20B Steering angle command unit 20C Knitting operation control unit M24, S24 Steering angle Command value calculation units M25, S25 Steering angle command value output unit 31 Knitting state detector 32M Single / knitting mode determination unit (knitting mode determination unit)
32S Independent / Knitting mode determination unit (Knitting mode determination unit)
33 Knitting master axis target rudder angle calculation unit 34 Knitting turning center calculation unit 35 Knitting slave axis target rudder angle calculation units 41A to 41C Master side connector 42 Slave side connectors 43A to 43C Transmission cable 51 Manual knitting operation selection switch 52 Knitting data output unit

Claims (3)

A plurality of independent conversion wheel devices, an operation control unit for obtaining a turning center of the carriage based on a steering angle operated by the steering device, and calculating a slave shaft target rudder angle of each wheel device from the turning center; and A carriage group is formed by a plurality of carriages each including a steering controller having a steering angle command unit that outputs a steering angle command to each of the wheel devices based on the slave shaft target steering angle and steers, and the carriage group has a larger size. Knitting and transporting cart equipment that loads and transports
Among the plurality of carts, one is a master cart that is driven main, and the rest is a slave cart that is driven by the master cart,
A knitting mode determination unit that sets a knitting master axis by determining a knitting operation mode that indicates the arrangement of the trolleys of the carriage group and a traveling mode that indicates the traveling direction of the trolley group, and a signal of the knitting mode determination unit A knitting operation control unit that obtains the knitting turning center of the carriage group from the steering angle of the steering device and calculates the knitting slave axis target rudder angle of each wheel device of the master carriage and slave carriage from the knitting turning center. Provided,
A steering transmission means for outputting a knitting slave shaft target rudder angle from the knitting operation control unit of the master cart to the rudder angle command unit of the slave cart ;
When the steering transmission means of the slave vehicle steering controller fails and the steering device of the slave vehicle is operated at the same operating angle as the steering angle of the master vehicle steering device, A knitting transport carriage facility comprising a knitting data output unit for obtaining a knitting data output unit for obtaining a knitting data capable of steering a wheel device based on the driven knitting turning center at the same position and outputting a knitting data capable of steering the wheel device based on the driven knitting turning center. The knitting operation control unit of the master carriage is configured to obtain a knitting master axis target rudder angle based on the knitting master axis set based on the knitting operation mode and the traveling mode and the steering steering angle of the steering device. An angle calculation unit, a knitting center calculation unit for obtaining a knitting turning center of the carriage group from the knitting master axis target rudder angle and the knitting master axis, and a knitting slave axis target rudder angle of each wheel device of the slave carriage from the knitting turning center. The knitting / conveying trolley equipment according to claim 1, further comprising a knitting slave shaft target rudder angle calculating unit for calculating. The knitting data includes the positions of the master car and the slave car, the position of the slave shaft of the wheel device of each car, and the position of the knitting master axis of the master car corresponding to the knitting mode and the travel mode. The knitted conveyance cart equipment according to claim 1 or 2.

Images