JP6628847B1 - Cart carrier - Google Patents

Abstract

An object of the present invention is to provide an apparatus capable of making transport work more efficient.
A body 10 includes a pair of side members 23 and 24 that define left and right side edges of a bogie accommodating space R having at least a front open, a traveling drive device 33 for moving the body 10, and a bogie. A holding device 60 for detachably holding the cart 2 in a state where the second wheel 2w is in contact with the ground, and a main body such that the holding device 60 moves in the front-rear direction between the side members 23 and 24. A holding drive device 50 for driving the unit 10 forward and backward, a traveling drive device 33, a holding device 60, and a control device 32 for controlling the holding drive device 50 are provided.
[Selection diagram] FIG.

Description

  TECHNICAL FIELD The present invention relates to an apparatus for transporting a bogie including a bogie main body on which an article to be conveyed is mounted and wheels for movably supporting the bogie main body.

  At a manufacturing site or the like, automatic transportation of products and the like is being studied for the purpose of improving work efficiency and reducing costs.

  For example, Patent Literature 1 discloses a self-propelled bogie in which a driving device is mounted and wheels are rotated by the driving device to run on a traveling path. Specifically, the self-propelled trolley disclosed in Patent Literature 1 includes a laser radar and a camera arranged to face forward in the traveling direction and capable of capturing an image in front of the traveling direction. Then, the distance to the marker arranged at the corner of the running path is measured with a laser radar, the zoom of the camera is switched based on the measured distance, the marker is imaged by the camera, and the position of the cart is confirmed. It is configured.

JP-A-10-149217

  In the device disclosed in Patent Document 1, an object to be transported, such as a product, is placed on the self-propelled vehicle itself. Therefore, when the transported object is transported by the self-propelled vehicle, it is necessary to load the transported object on the self-propelled vehicle (a mounting portion provided on the self-propelled vehicle), and the self-propelled vehicle moves at the destination. An operation of loading and unloading the transported object from the cart becomes necessary. Of course, if the transported object is directly loaded on the self-propelled carriage from the manufacturing apparatus or the like, the loading operation by the operator can be omitted. However, in this case, the self-propelled trolley cannot be used until the loading on the self-propelled trolley is completed, so that it is also difficult to increase the transfer efficiency.

  An object of the present invention is to provide a device that can make the transfer operation more efficient.

In order to solve the above-described problems, the present invention is an apparatus for transporting a bogie including a bogie main body on which an object to be conveyed is mounted and wheels for movably supporting the bogie main body, wherein at least the front is opened. Main body including a pair of side members for defining left and right side edges of the bogie housing space, a traveling drive device for moving the main body, and detachably holding the bogie in a state where wheels of the bogie are grounded. Holding device, a holding drive device for driving the holding device forward and backward with respect to the main body so that the holding device moves in the front-rear direction between the pair of side members, the traveling drive device, and the holding device. And a control device for controlling a holding driving device, wherein the holding device has a locking portion that can be locked to a rear edge portion of the bogie main body, and the locking portion is configured such that the locking portion is the bogie main body. And the holding state locked to the rear edge It has a switching mechanism for switching to the release state in which locking is released, and a pressing portion extending in the lateral direction is provided above the locking portion, wherein the control unit receives a request for conveying taken off the carriage A first control for moving the main body to a position where a front open end of the bogie accommodating space is opposed to the bogie, and moving the holding device forward so that the holding device approaches the bogie. A second control, a third control for holding the truck on the holding device that has moved forward, and a fourth control for retracting the holding device holding the truck to draw the truck into the truck accommodation space. Controlling the traveling drive device, the holding device, and the holding drive device such that a fifth control for moving the main body while the carriage is retracted into the carriage accommodation space is executed. While, when the third control of execution, the locking unit controls the switching mechanism such that the holding state from the released state, to provide a carriage transport device, characterized in that.

  According to the present invention, not the transported object itself, but the trolley on which the transported object is placed is transported by the trolley transport device. Therefore, it is only necessary to move the transported object loaded on the trolley from the manufacturing apparatus or the like and transfer the entire trolley to the transfer destination.Therefore, there is no need to transfer the transported object from the trolley to the trolley transport device. Can be increased. In addition, when the loading of the conveyed objects is performed on the predetermined carriage in the predetermined line of the manufacturing apparatus, another carriage can be transported in another line of the manufacturing apparatus, and the plurality of carriages and each of the carriages can be transferred. The loaded objects can be efficiently transported.

  In the present invention, the trolley is transported in a state of being stored in the trolley storage space defined between the side members. Therefore, the total size of the trolley carrier and the trolley can be reduced. Moreover, the lateral movement of the carriage is regulated by the side members, and the carriage and the objects loaded on the carriage can be stably conveyed. In addition, the holding device is configured to move forward and backward in the carriage accommodation space by being driven by the holding drive device. Therefore, the carriage can be easily moved inside and outside the carriage accommodation space.

  Further, the cart is held in the cart accommodation space with the wheels of the cart in contact with the ground. Therefore, the truck can be transported while rotating the wheels, and the driving force for driving the truck transport device can be reduced.

In addition, since the holding device has the above-described configuration, the rear edge of the bogie main body can be pressed forward by the locking portion when the bogie main body is pushed out of the bogie housing space, and the bogie main body is stabilized. And can be pushed out of the carriage accommodation space. In addition, the truck and the truck carrier can be easily connected by driving the switching mechanism , and this connection can be easily released. Furthermore, since the pressing portion is provided, the trolley or the transported object mounted on the trolley can be pressed forward by the pressing portion, so that the trolley is more stably pushed out of the trolley accommodating space. be able to.

  In the configuration, the switching mechanism includes a rotation shaft to which the locking portion is attached at a front end, and a rotation driving unit that rotates the rotation shaft around the axis. When the control is executed, the traveling drive device is controlled such that the locking portion is disposed below a rear edge portion of the bogie main body in a state where the holding device is located at the forefront, and the Preferably, when the control of step 3 is executed, the rotation drive unit is controlled such that the locking unit rotates to a position where the locking unit locks with the trailing edge of the bogie main body.

  According to this configuration, the bogie can be easily held by the holding device with a simple configuration in which the rotation shaft is rotated by the rotation drive unit, and the holding can be easily released.

Further, the present invention is an apparatus for transporting a bogie including a bogie main body on which an article to be conveyed is mounted and wheels for movably supporting the bogie main body, wherein at least the front of the bogie accommodating space is opened. A main body portion including a pair of side members that define left and right side edges, a traveling drive device for moving the main body portion, and a holding device for detachably holding the bogie with the bogie wheels grounded, A holding drive for driving the holding device forward and backward with respect to the main body so that the holding device moves between the pair of side members in the front-rear direction; and the traveling drive, the holding device, and the holding drive. A control device for controlling the device, the holding device, a pair of rods driven by the holding drive device to move in the front-back direction along the inner surface of the pair of side members, At the rear end of the rod A pair of abutting pieces attached to the front end of each of the rods and capable of abutting from the front to the right and left ends of the front surface of the bogie main body; disposed in front of the left and right end portions of the front and closed and a switching mechanism for switching to the release state holding state and the regulation is released for regulating the forward movement of the carriage body of the control device, the A first control for moving the main body to a position where a front open end of the bogie accommodating space is opposed to the bogie when a request for picking up and transporting the bogie is received, and the holding device approaches the bogie. Second control for moving the holding device forward so as to perform the control, third control for holding the truck on the holding device that has moved forward, and retreating the holding device holding the truck so as to move the bogie to the bogie. Containment space The travel driving device, the holding device, and the holding device such that a fourth control for pulling the truck and a fifth control for moving the main body portion while the truck is pulled into the truck accommodation space are executed. A truck transport device characterized by controlling a driving device for a vehicle .

Even with this configuration, when the bogie main body is pushed out of the bogie housing space, the bogie main body can be pressed forward by the rear wall portion, and the bogie main body can be stably pushed out of the bogie housing space. In addition, the truck and the truck carrier can be easily connected by driving the switching mechanism , and this connection can be easily released. Further, in this configuration, the carriage main body is held by the holding device by the respective contact pieces abutting from the front to the right and left ends of the front surface of the carriage main body. Therefore, there is no need to provide a mechanism for locking the carriage body to the holding device, and the carriage having different shapes and structures can be transported.

  The said structure WHEREIN: The said switching mechanism has the slide drive part which moves each said contact piece in the direction approaching mutually with respect to the front end of each said rod, and the opposite direction, The said control apparatus is the said 2nd. When the control is performed, the holding driving device is controlled so that each of the contact pieces moves to a position corresponding to the front surface of the bogie main body, and when the third control is performed, each of the contact pieces is controlled. It is preferable that the slide drive unit is controlled so that the slide drive units move in the directions approaching each other and are disposed in front of the left and right ends of the front surface of the bogie main body.

  According to this configuration, the carriage can be easily held by the holding device, and the holding can be easily released, with a simple configuration in which the contact piece is moved in the approaching direction and the separating direction by the slide drive unit. be able to.

  As described above, according to the transfer device of the present invention, the transfer operation of the transferred object can be made more efficient.

FIG. 2 is a schematic perspective view showing a state where the carriage transport device according to the embodiment of the present invention is holding the carriage. It is a schematic perspective view of a trolley conveyance apparatus. It is a schematic top view of a trolley conveyance apparatus. FIG. 3 is a schematic top view showing a state where the carriage carrier holds the carriage. FIG. 4 is a schematic top view showing a state where the carriage carrier is pushing or pulling the carriage. It is a schematic top view for explaining the structure of a holding device and a slide device. It is a schematic side view for explaining the structure of a holding device and a slide device. It is a schematic side view for explaining operation of a hook. It is a schematic side view for explaining operation of a hook. It is a schematic front view for explaining operation | movement of a hook. It is a control block diagram of a trolley conveyance device. It is the schematic top view which showed the trolley | bogie conveyance apparatus which concerns on 2nd Embodiment.

  Hereinafter, a bogie transport device 1 according to a first embodiment of the present invention for transporting a bogie 2 will be described in detail with reference to the drawings.

  FIG. 1 is a schematic perspective view showing a state in which a bogie carrier 1 according to a first embodiment of the present invention is holding a bogie 2. FIG. 2 is a schematic perspective view of the carriage transport device 1. FIG. 3 is a schematic top view of the carriage transport device 1. FIG. 4 is a schematic top view showing a state in which the carriage transport device 1 is holding the carriage 2. FIG. 5 is a schematic top view showing a state in which the carriage 2 is pushed out of a carriage accommodation space R described later formed in the carriage transport device 1 or a state immediately before the carriage 2 is drawn into the carriage accommodation space R. FIG.

  As shown in FIG. 4 and the like, the trolley 2 has a trolley body 2x on which an object to be transported such as the tray 3 is placed, and a plurality of wheels 2w rotatably held by the trolley body 2x. The cart 2 is usually used by an operator to hold and transport the cart body 2x or the tray 3 placed thereon. In this embodiment, the bogie main body 2x includes a substantially rectangular mounting surface 2a extending along a horizontal plane, and frame portions 2b, 2d extending upward from one short side and two long sides of the mounting surface 2a. , 2e, and a hanging portion 2c extending downward from the remaining short side. The cart 2 has four wheels 2w rotatably supported at four corners on the lower surface of the mounting surface 2a. Note that the truck 2 only needs to have a truck main body on which the transported object is placed and wheels, and the specific structure is not limited to the above.

  The carriage transport device 1 includes wheels 15 and a main body 10 that is capable of self-propelling by rotating the wheels 15. Hereinafter, in the description of the bogie transport device 1, the vertical direction in FIG. 3 and the sliding direction of the holding device 60 described later are the front-rear direction, and the horizontal direction in FIG. The direction in which the parts 24 are arranged is referred to as the left-right direction. In addition, the lower side of FIG. 3 and the side where a trolley housing space R described later opens will be referred to as the front side, and the right side of FIG. 3 and the side where the later-described slide motor 51 is disposed will be described as the right side.

  The main body 10 includes a plurality of frames 11 extending in a horizontal direction or a vertical direction, and a cover 12 fixed to the frames 11 so as to cover the frames 11 from outside. The main body 10 includes a first housing 21, a second housing 22, a first upright wall 23, and a second upright wall 24, which are configured by the frame 11 and the cover 12.

  The second accommodating portion 22 is a portion in which a space accommodating a later-described chain rotation shaft 52 and the like is partitioned inside, and has an approximately rectangular parallelepiped shape extending in the left-right direction. The first accommodating portion 21 is a portion having a substantially rectangular parallelepiped box shape extending upward from a rear portion of the second accommodating portion 22. A space that communicates with the inner space of the second storage part 22 is defined inside the first storage part 21. The first standing wall portion 23 is a portion extending forward from the left end of the second storage portion 22, and the second standing wall portion 24 is a portion extending forward from the right end portion of the second storage portion 22. The first standing wall portion 23 includes one frame 11 extending in the front-rear direction and the cover 12 surrounding the frame 11. On the other hand, the second standing wall portion 24 includes two frames 11 extending in the front-rear direction and arranged side by side and the cover 12 surrounding the two frames 11. The first standing wall portion 23 and the second standing wall portion 24 are separated in the left-right direction, and are arranged in parallel in the left-right direction.

  A plurality of wheels 15 are rotatably fixed to the main body 10 (frame 11). In the present embodiment, one wheel 15 is provided at each of the left and right ends of the lower portion of the main body 10 in the front and rear directions on the lower surfaces of the two frames 11 extending in the front and rear directions, that is, at the four corners of the lower surface of the main body 10. ing. One wheel 15 is also provided on the front end of the lower surface of one frame 11 extending in the front-rear direction at the lower left end of the second standing wall portion 24. These wheels 15 are fixed to the main body 10 so as to be rotatable around an axis along a horizontal plane and rotatable around an axis along a vertical plane. Further, in the present embodiment, collision detection sensors 19, 19 for stopping the carriage transport device 1 at the time of collision with a wall or the like are provided on the left side surface of the first standing wall portion 23 and the right side surface of the second standing wall portion 24, respectively. I have.

  The first standing wall portion 23 and the second standing wall portion 24 correspond to “side members” in the claims.

  The distance between the upright wall portions 23 and 24 in the left-right direction is set to be larger than the width of the bogie 2 and the bogie body 2x in the lateral direction. Thereby, a bogie housing space in which the bogie 2 can be opened forward and housed inside by the first standing wall portion 23, the second standing wall portion 24, and the second housing portion 22 in the lower front portion of the main body 10. R is sectioned. Thus, the first upright wall 23 and the second upright wall 24 define the left and right side edges of the bogie accommodation space R.

  In the present embodiment, the portion of the first standing wall portion 23 facing the second standing wall portion 24 and the portion of the second standing wall portion 24 facing the first standing wall portion 23 are respectively provided in the front-rear direction and the vertical direction. Are provided, and these guide plates 13 and 13 constitute a right side surface of the first standing wall portion 23 and a left side surface of the second standing wall portion 24, respectively. Specifically, guide plates are provided on the right side surface of the frame 11 extending in the front-rear direction forming the first standing wall portion 23 and the left side surface of the frame 11 extending in the front-rear direction (the left frame 11) forming the second standing wall portion 24. 13 is fixed. The distance between the guide plates 13 in the left-right direction is set to be slightly larger than the width of the carriage 2 and the carriage main body 2x in the lateral direction, and the carriage accommodation space between the guide plates 13 is set. R is sectioned. Thereby, as shown in FIG. 4, in a state where the carriage 2 is accommodated in the carriage accommodation space R, the movement of the carriage 2 in the left-right direction is regulated by the guide plate 13. In particular, the length of the guide plate 13 in the front-rear direction is set to be substantially equal to the length of the carriage 2 in the longitudinal direction, and the guide plate 13 contacts the entire length of the frame portions 2d and 2e on the long side of the carriage 2. It is accessible. Therefore, the movement of the carriage 2 in the left-right direction is reliably restricted by the guide plate 13.

  The main body 10 has a holding device 60 for holding the carriage 2, and the holding device 60 is driven to move forward and backward with respect to the main body 10 so as to move in the front-rear direction between the first standing wall 23 and the second standing wall 24. The holding driving device 50 is mounted.

  FIG. 6 is a schematic top view for explaining the structures of the holding device 60 and the holding driving device 50. FIG. 7 is a schematic side view for explaining the structure of the holding device 60 and the holding driving device 50.

(Holding device)
The holding device 60 includes a plate-like base 61 extending in the left-right direction, a hook rotation motor 71 fixed to the base 61, and a column-shaped hook extending in the front-rear direction connected to the rotation shaft of the hook rotation motor 71. It has a rotating shaft 72, a hook 73 fixed to the front end of the hook rotating shaft 72, and a plate-like pressing plate 64 connected to the base 61 and extending in the left-right direction. The hook 73 corresponds to a “locking portion” in the claims, and the pressing plate 64 corresponds to a “pressing portion” in the claims.

  The hook rotation motor 71 is fixed to the left and right centers of the upper surface of the base 61. The hook rotation motor 71 is fixed to the base 61 with a rotation center line extending in the front-rear direction. The hook rotation shaft 72 extends forward from the hook rotation motor 71. The hook rotation shaft 72 extends further forward beyond the front edge of the base 61. The hook rotation motor 71 is housed in a motor housing 79 fixed to the center of the upper surface of the base 61 in the left and right directions.

  The hook rotation shaft 72 is connected to the hook rotation motor 71 so as to be integrally rotatable therewith. The hook rotation shaft 72 is connected to the hook rotation motor 71 such that its center line and the rotation center line of the hook rotation motor 71 extend in the front-rear direction along the same line. Thus, with the rotation of the hook rotation motor 71, the hook rotation shaft 72 rotates around its center line. The hook 73 is connected to the front end of the hook rotation shaft 72 so as to be rotatable integrally with the hook rotation shaft 72. With the rotation of the hook rotation motor 71, the hook 73 rotates around the center line of the hook rotation shaft 72. The hook rotation shaft 72 corresponds to the “rotation shaft” in the claims, and the hook rotation motor 71 corresponds to the “rotation driving unit” in the claims. The hook rotation motor 71 and the hook rotation shaft 72 The mechanism constituted by the hook 73 and the hook 73 corresponds to a “switching mechanism” in the claims.

  8 and 9 are schematic side views for explaining the operation of the hook 73. FIG. FIG. 10 is a schematic front view for explaining the operation of the hook 73.

  When the hook rotation motor 71 and the hook rotation shaft 72 rotate 90 ° counterclockwise as viewed from the front, the hook 73 is moved from the first position shown by the solid line in FIGS. The position is switched to the second position shown by the broken line in FIG.

  Here, the structure of the hook 73 will be described with the hook 73 in the first posture. The hook 73 includes a first extension 73a extending in the vertical direction, a second extension 73b extending leftward from the left side of the lower portion of the first extension 73a, and a front end extending from the left end of the second extension 73b. And a fourth extension 73d extending upward from the front end of the third extension 73c. The front end of the hook rotation shaft 72 is fixed to the upper part of the first extension 73a. The height position of the upper end of the fourth extension 73d is lower than the height position of the upper end of the first extension 73a. As shown in FIG. 10, the first extension portion 73a and the third extension portion 73d are separated from each other in front view. As shown in FIG. 8, the first extension portion 73a and the fourth extension portion 73d are separated in the front-rear direction, and between them (in front of the first extension portion 73a and the fourth extension portion 73d). At the rear position), the hanging portion 2c of the carriage 2 can be inserted. That is, the first extension portion 73a and the fourth extension portion 73d and the hanging portion 2c of the carriage 2 overlap each other when viewed from the front. Thus, in a state where the hook 73 is in the first position and the hanging portion 2c is inserted between the first extending portion 73a and the fourth extending portion 73d, the fourth extending portion 73d becomes the hanging portion 2c. The forward movement of the hanging portion 2c and the bogie 2 is restricted by contacting the hanging portion 2 from the front, and the first extending portion 73a abuts on the hanging portion 2c from behind, thereby moving the hanging portion 2c and the bogie 2 backward. Is regulated, and the hook 73 is locked to the hanging portion 2c and the carriage 2. Hereinafter, the state in which the hook 73 is in the first posture and the hook 73 is locked to the hanging portion 2c as described above is appropriately referred to as a holding state.

  Here, as shown in FIG. 4 and the like, the carriage 2 is accommodated in the carriage accommodating space R in such a manner that the hanging part 2c becomes a rear edge. Rear edge of the main body ".

  On the other hand, when the hook 73 is in the second posture, the first extension portion 73a is in a posture extending in the left-right direction, and the second extension portion 73b is in a posture extending downward from the right end of the first extension portion 73a. The third extension 73c extends forward from the lower end of the second extension 73b, and the fourth extension 73d extends leftward from the front end of the third extension 73c. As shown in FIG. 9, when the hook 73 is in the second posture, the fourth extension 73 d is located below the hanging portion 2 c of the carriage 2, and the fourth extension 73 d is hung by the first extending portion 73 a. Although the rearward movement of the part 2c and thus the carriage 2 is restricted, the forward movement of the hanging part 2c and the carriage 2 is allowed. That is, in this state, the engagement between the hook 73 and the hanging portion 2c is released. Hereinafter, the state in which the hook 73 is in the second posture is referred to as a released state as appropriate.

  When the hook 73 is switched from the first posture (holding state) to the second posture (released state), and the hook 73 is moved from the second posture (released state) to the first posture ( A first rotation sensor S1 that outputs a predetermined signal when switching to the (holding state) is provided. The first rotation sensor S1 detects when the hook rotation motor 71 has rotated to near the rotation position of the hook rotation motor 71 when the hook 73 is in the first posture (holding state), and when the hook 73 is in the second position. When the hook rotation motor 71 rotates to near the rotation position of the hook rotation motor 71 in the posture (released state), a signal is output. In the present embodiment, a detection plate 72 that rotates integrally with the hook rotation motor 71 is connected to the hook rotation motor 71, and the first rotation sensor S <b> 1 detects a notch or the like provided on the detection The rotation position of the rotation motor 71 is detected, and a signal is output in each case.

  As shown in FIG. 8 and the like, the pressing plate 64 is provided above the hook 73. In the present embodiment, the pressing plate 64 is disposed above the carriage 2. Further, the pressing plate 64 is disposed in front of the first extension 73a of the hook 73 and behind the fourth extension 73d in the front-rear direction. Thus, in a state where the carriage 2 is held by the hook 73, the pressing plate 64 comes into contact with the tray 3 or the like mounted on the carriage 2 from behind, and regulates the movement of the tray 3 or the like backward.

  In the present embodiment, a pair of first connecting portions 62 extending forward from right and left portions of the base 61 with respect to the motor housing portion 79, respectively, and a second connecting portion 63 fixed to the first connecting portion 62, respectively. The pressing plate 64 is connected to the base 61 through the intermediary of the pressing plate 64. Specifically, the first connecting portion 62 includes a plate-like first plate portion 62a extending forward from the base 61, and a second plate portion 62b extending upward from the front end of the first plate portion 62a. The second connecting portion 63 is a cylindrical member extending in the front-rear direction, and is fixed to an upper portion of the second plate portion 62b. The pressing plate 64 is fixed to the front end of the second plate portion 62b.

(Holding drive)
The holding driving device 50 includes two roller chains 54, 54, two sprockets 53 provided for each roller chain 54, a chain rotation shaft 52 connected to the sprocket 53, and a chain rotation shaft. And a sliding motor 51 for rotating 52.

  Each roller chain 54 is disposed so as to extend in the front-rear direction along the first standing wall 23 and the second standing wall 24, respectively. The roller chain 54 on the first upright wall 23 side is stretched over a sprocket 53 arranged near the front end of the first upright wall 23 and a sprocket 53 arranged near the left end of the second storage section 22. The first vertical wall 23 moves along the first vertical wall 23 between the vicinity of the front end thereof and a position behind the first vertical wall 23. The roller chain 54 on the side of the second standing wall portion 24 is stretched over a sprocket 53 arranged near the front end of the second standing wall portion 24 and a sprocket 53 arranged near the right end of the second housing portion 22. The second vertical wall 24 moves along the second vertical wall 24 between the vicinity of the front end of the second vertical wall 24 and a position behind the second vertical wall 24.

  The chain rotation shaft 52 has a columnar shape extending left and right over two sprockets 53 provided at both left and right ends of the second housing portion 22, and is connected to the sprockets 53 at both left and right ends. . The chain rotation shaft 52 is housed in the second housing part 22.

  The slide motor 51 rotates the chain rotation shaft 52 around a center line extending in the left-right direction of the chain rotation shaft 52. Two sprockets 53 provided at both left and right end portions of the second housing portion 22 are rotatably connected to a chain rotation shaft 52 integrally therewith, and the rotation of the slide motor 51 causes the rotation of the chain. It rotates around the center line of the driving shaft 52. With the rotation of the sprocket 53, each roller chain 54 rotates around a line extending in the left-right direction. The slide motor 51 is housed near the right end of the second housing part 22 and is connected to the right end of the chain rotation shaft 52.

  Each roller chain 54 is connected to the base 61 of the holding device 60, and the base 61 and thus the holding device 60 move in the front-rear direction with the rotation of the roller chain 54. In the present embodiment, the chain connecting portions 61a provided at both left and right end portions of the base 61 and each roller chain 54 are connected. The chain connecting portion 61a is connected to a lower portion of the roller chain 54.

  The first upright wall 23 and the second upright wall 24 are formed with guide grooves 59 for guiding the chain connecting portion 61a in the front-rear direction. Specifically, guide grooves 59 that are recessed in the left-right direction are formed on the left and right inner side surfaces of the frame 11 that forms the upright walls 23 and 24 so as to extend in the front-rear direction. The chain connecting portion 61a is fitted in the guide groove 59, and moves in the front-rear direction along the guide groove 59. Thus, in the present embodiment, the base 61 and thus the holding device 60 are slidably moved in the front-rear direction.

  Here, as described above, the hook rotation shaft 72 extends beyond the front edge of the base 61 to a further forward position, and the hook 73 is provided at the front end of the hook rotation shaft 72. Each roller chain 54 extends to near the front end of each of the upright walls 23 and 24. Therefore, as shown in FIG. 5, when the chain connecting portion 61a has reached the vicinity of the front end of each of the upright walls 23, 24, the hook 73 and the pressing plate 64 provided above the hook 73 are attached to each of the upright walls 23, 24. It will be located at a position ahead of the front end.

  Further, as described above, each roller chain 54 extends to a position behind each of the upright walls 23 and 24. Therefore, in a state where the chain connecting portion 61a has reached the rear end position of the roller chain 54, the base 61 is in a state of being drawn into the second housing portion 22. That is, an opening that opens forward is formed in the second housing portion 22, and the base 61 moves inside and outside the second housing portion 22 through this opening. In the present embodiment, when the chain connecting portion 61a reaches the rear end position of the roller chain 54, the holding device 60 is in the state shown in FIG. 3, that is, the front edge of the second storage portion 22 and the rear edge of the hook 73 in the front-rear direction. Are in substantially the same position.

  Hereinafter, a state in which the chain connecting portion 61a has reached the front end position of the roller chain 54 is referred to as a state where the holding device 60 is in the foremost position state, and a state in which the chain connecting portion 61a has reached the rear end position of the roller chain 54. Is that the holding device 60 is in the last position state.

  When the chain connecting portion 61a reaches the front end position of the roller chain 54 (when the holding device 60 is in the frontmost position state), and when the chain connecting portion 61a is at the rear end position of the roller chain 54, (When the holding device 60 is in the last position state), a second rotation sensor S2 that outputs a predetermined signal is provided. The second rotation sensor S2 is a sensor capable of detecting the rotation position of the slide motor 51, and when the slide motor 51 has rotated to near the rotation position when the holding device 60 is in the frontmost position state, and When the slide motor 51 has rotated to a position near the rotation position at which the position 60 is at the last position state, a predetermined signal is output.

  The main body 10 further includes a wheel drive motor 33, a battery 31, and a control device 32.

  The wheel drive motor 33 is a motor for rotating and driving the wheels 15. In the present embodiment, a pair of left and right wheels 15a, 15a provided at the rear end of the main body 10 and a wheel drive motor 33 are connected, and these wheels 15a, 15a function as drive wheels, and the other wheels 15a Functions as a subordinate wheel. In the present embodiment, the two drive wheels 15a are individually driven by the wheel drive motor 33, and two wheel drive motors 33 are provided.

  The battery 31 is connected to the wheel drive motor 33, the hook rotation motor 71, the slide motor 51, and the control device 32, and supplies electric power thereto.

(Control device)
The control device 32 is a device for controlling the wheel drive motor 33, the hook rotation motor 71, and the slide motor 51, and is electrically connected thereto.

  FIG. 11 is a control block diagram of the control device 32. The control device 32 is electrically connected to the main control device 9, the first rotation sensor S1, and the second rotation sensor S2, and signals are input to the control device 32 from these components.

  The main control device 9 is provided separately from the carriage transport device 1, and communicates with the carriage transport device 1 by wireless or the like, for example. The main control device 9 determines whether or not it is necessary to transport the carriage 2 by the carriage transport device 1 based on the position of the carriage 2, the amount of the transported object placed on the carriage 2, and the like. In some cases, the control unit 32 calculates which position the carriage 2 should be transported to, and sends the calculation result to the control device 32. Whether or not the carriage 2 needs to be conveyed and the positions of the conveyance source and the conveyance destination of the carriage 2 may be input to the main control device 9 by an operator.

  The control device 32 drives the wheel drive motor 33, the hook rotation motor 71, and the slide motor 51 based on a signal input from the main control device 9 and a signal from each of the sensors S1 and S2.

  First, when the control device 32 receives a signal from the main control device 9 that the trolley 2 needs to be transported, that is, receives a request to pick up and transport the trolley 2, the control device 32 opens the front of the trolley accommodation space R. A first control is performed to move the main body 10 to a first target position where the end R1 faces a truck 2 to be picked up (hereinafter, appropriately referred to as a target truck 2). In the present embodiment, the first target position is set to a position where the hook 73 is arranged below the hanging portion 2c of the target trolley 2 as shown in FIG. 6 when the holding device 60 is in the frontmost position state. You.

  Specifically, the control device 32 moves the main body 10 from the current position based on the current position of the main body 10 and the current position of the target trolley 2 (that is, the position of the transfer source of the target trolley 2). A route for moving to the first target position is calculated. Then, the control device 32 calculates the amount of rotation of the driving wheels 15a, 15a so that the main body 10 moves to the first target position along this path, and performs the wheel drive so that the amount of rotation is realized. The motor 33 is driven. Here, the current position of the main body 10 is calculated from, for example, the initial position and the rotation amounts of the drive wheels 15a, 15a from this position to the present. The method of calculating the current position of the main body 10 is not limited to this. This position may be calculated by the main control device 9.

  When the main body unit 10 moves to the first target position, the control device 32 stops the wheel drive motor 33 and performs the second control of moving the holding device 60 forward so that the holding device 60 approaches the target cart 2. I do.

  Specifically, the control device 32 starts the rotation drive of the slide motor 51 and advances the holding device 60 in the last position state. The control device 32 drives the slide motor 51 until a predetermined signal is input from the second sensor S2 as the holding device 60 enters the frontmost position state. Thus, the holding device 60 moves forward until it reaches the foremost position state. Here, since the first target position is set as described above, when the holding device 60 moves forward to the foremost position state, the hook 73 is arranged below the hanging portion 2c of the target vehicle 2. Become.

  When the rotation of the slide motor 51 is stopped and the holding device 60 is in the frontmost position state (when the driving of the slide motor 51 is stopped), the control device 32 then holds the target cart 2 on the holding device 60 that has moved forward. The third control to be performed is performed.

  Specifically, the control device 32 rotates the hook rotation motor 71 to bring the hook 73 in the released state (second posture) into the holding state (first posture). Specifically, the control device 32 rotates the hook rotation motor 71 clockwise in a front view. Then, when a predetermined signal is input from the first sensor S1 as the hook 73 enters the holding state, the driving of the hook rotation motor 71 is stopped. Thereby, the hook 73 is brought into the holding state shown in FIG. 8, and the hook 73 is locked to the hanging portion 2 c of the target trolley 2. That is, the hanging portion 2 c enters between the first extending portion 73 a and the fourth extending portion 73 d of the hook 73, and the movement of the hanging portion 2 c in the front-rear direction is regulated by the hook 73.

  When the hook 73 is in the holding state and the hook 73 is locked to the hanging portion 2c of the target cart 2 (when the driving of the hook rotation motor 71 is stopped), the control device 32 retreats the holding device 60 and The fourth control for pulling the carriage 2 into the carriage accommodation space R is performed.

  Specifically, the control device 32 starts driving the slide motor 51 while keeping the driving of the hook rotation motor 71 stopped. At this time, the control device 32 rotates the slide motor 51 in a direction in which the holding device 60 moves backward. Then, the control device 32 drives the slide motor 51 until a predetermined signal is input from the second sensor S2 with the holding device 60 being in the last position state. As a result, the holding device 60 moves backward until it reaches the last position state. At this time, the wheels 2w of the target trolley 2 are in contact with the ground, and the target trolley 2 retreats relatively easily as the wheels 2w rotate.

  When the holding device 60 is retracted to the last position state (when the driving of the slide motor 51 is stopped), the control device 32 then moves to the main body portion while the target trolley 2 is pulled into the trolley accommodation space R. Fifth control for moving 10 to the destination is performed.

  Specifically, the control device 32 calculates a route for moving the main body 10 from the current position (first target position) to the position of the transport destination of the target vehicle 2 (second target position). Then, the control device 32 calculates the amount of rotation of the drive wheels 15a, 15a so that the main body 10 moves to the second target position along this path, and performs the wheel drive such that the amount of rotation is realized. The motor 33 is driven.

  The driving wheels 15a of the carriage transport device 1 rotate with the driving of the wheel driving motor 33, and the main body 10 starts moving. At this time, the guide plate 13 of the first standing wall portion 23 and the guide plate 13 of the second standing wall portion 24 restrict the movement of the target cart 2 in the left-right direction. Further, the movement of the hook 73 to the rear of the target trolley 2 is regulated by the first extension 73a, and the movement of the hook 73 to the front of the target trolley 2 is regulated by the fourth extension 73d. Further, as shown in FIG. 1, when the tray 3 or the like is mounted on the target trolley 2, the pressing plate 64 abuts the tray 3 from behind to move the tray 3 and the target trolley 2 rearward. Is regulated. Therefore, the target trolley 2 and the tray 3 mounted on the trolley move stably with the main body 10. Also, the target trolley 2 moves with its wheels 2w in contact with the ground. Therefore, the target trolley 2 moves smoothly together with the main body 10 by the rotation of the wheels 2w of the target trolley 2.

  When the main body 10 reaches the second target position, the control device 32 stops driving the wheel drive motor 33. Next, the control device 32 advances the holding device 60 to the frontmost position state, and then switches the hook 73 from the holding state to the release state. Thereby, the target trolley 2 is arranged at a target place. Thereafter, the control device 32 moves the holding device 60 back to the rearmost position again.

  Specifically, after stopping driving the wheel drive motor 33, the control device 32 starts driving the slide motor 51. Next, when a predetermined signal is input from the second sensor S2 as the holding device 60 enters the frontmost position state, the control device 32 stops driving the slide motor 51. Next, the control device 32 starts driving the hook rotation motor 71 to rotate the hook rotation motor 71 and the hook 73 counterclockwise in front view. Then, when a predetermined signal is input from the first rotation sensor S1 as the hook 73 is released, the control device 32 stops driving the hook rotation motor 71. Next, the control device 32 starts driving the slide motor 51. Then, when a predetermined signal is input from the second sensor S2 as the holding device 60 enters the last position state, the control device 32 stops driving the slide motor 51.

(Action, etc.)
As described above, in the present embodiment, the bogie accommodating space R in which the first standing wall portion 23 and the second standing wall portion 24 are opened forward is defined in the main body 10 of the carriage transport device 1. It is provided so that. The main body 10 further includes a wheel drive motor 33 for driving the wheels 15a, 15a, a holding device 60 for detachably holding the truck 2 with its wheels 2w grounded, and a holding device 60 in the truck accommodation space R. And a control device 32 for controlling them. When the first to fifth controls are executed by the control device 32 and there is a request to pick up and transport the carriage 2, the wheel drive motor 33 is driven to open the front of the carriage accommodation space R. The main body 10 moves to a first target position where the end R1 and the truck 2 face each other, the holding device 60 moves forward toward the truck 2, the truck 2 is held by the holding device 60, and the holding device 60 retreats. The trolley 2 is drawn into the trolley accommodation space R, and thereafter, the main body 10 moves to the transport destination while the trolley is pulled into the trolley accommodation space R.

  Therefore, according to the present embodiment, the transport efficiency of the truck 2 and the transported objects (including the tray 3 that stores the transported objects) loaded on the truck 2 can be significantly improved. Specifically, in the present embodiment, not the transported object itself, but the carriage 2 on which the transported object is placed is transported by the carriage transport device. Therefore, the transported object loaded on the trolley 2 from the manufacturing apparatus or the like may be moved along with the trolley 2 and delivered to the destination with the trolley 2. Therefore, it is necessary to transfer the transported object from the trolley 2 to the trolley transport device 1. Absent. In addition, when a load is loaded on a predetermined truck 2 on a predetermined line of the manufacturing apparatus, another truck 2 can be transported on another line of the manufacturing apparatus. That is, the operation of loading the transported object onto the predetermined carriage 2 and the operation of transporting the other carriage 2 can be performed simultaneously. Therefore, the plurality of carts 2 and the objects loaded on each cart 2 can be sequentially conveyed. Thus, the efficiency of the work of transporting the carriage 2 and the transported object can be reliably increased.

  In the present embodiment, as described above, the trolley 2 is transported while being stored in the trolley storage space R defined between the first upright wall 23 and the second upright wall 24. Therefore, the total size of the trolley transport device 1 and the trolley 2 can be reduced as compared with a case where the trolley is towed by the trolley. In addition, since the first standing wall portions 23 and 24 restrict the movement of the cart 2 in the left-right direction, the cart 2 and the objects loaded on the cart 2 can be stably conveyed. Furthermore, since the holding device 60 is configured to be driven by the holding driving device 50 so as to move in and out of the carriage accommodation space R, the carriage 2 can be easily moved inside and outside the carriage accommodation space R. In addition to being able to be moved, the work of the worker involved in this movement can be omitted or the amount of work can be reduced.

  Moreover, the cart 2 is conveyed in a state where its wheels 2w are in contact with the ground and can rotate. Therefore, the carriage 2 can be easily transported. In addition, the driving force of the wheels 15 of the carriage transport device 1, that is, the driving force of the wheel driving motor 33 can be reduced. Therefore, it is possible to reduce the size of the wheel drive motor 33 and, consequently, to reduce the size of the carriage transport device 1 and to reduce energy consumption.

  Further, in the present embodiment, the holding device 60 is provided with a hook 73 that can be locked to the hanging portion 2c constituting the rear edge of the bogie main body 2x. Therefore, when pushing out the bogie main body 2x from the bogie housing space R, the trailing edge of the bogie main body 2x can be pressed forward by the hook 73, and the bogie main body 2x can be stably pushed out of the bogie housing space R. it can.

  In particular, in the present embodiment, a pressing plate 64 extending in the left-right direction is provided above the hook 73. Therefore, the conveyed object such as the tray 3 mounted on the trolley 2 can also be pressed forward by the pressing plate 64, and the trolley 2 and the conveyed object can be moved stably.

  Further, a mechanism is provided for switching between a holding state in which the hook 73 is locked by the hanging portion 2c and a releasing state in which the locking is released. The mechanism is controlled by the control device 32 so that the hook 73 is automatically switched between the holding state and the releasing state. Therefore, connection and disconnection between the holding device 60 and the main body 10 of the carriage transport device 1 and the carriage 2 can be easily performed.

  In particular, in the present embodiment, the holding device 60 is provided with a hook rotation shaft 72 extending rearward from the hook 73, and the hook rotation shaft 72 is driven to rotate by the hook rotation motor 71. . When the carriage 2 is to be picked up, the hook 73 is disposed below the hanging portion 2c, and thereafter, the hook rotating shaft 72 is rotated to lock the hook 73 to the hanging portion 2c. I have. Therefore, while simplifying the structure for locking / unlocking the hook 73 and the hanging portion 2c, the carriage 2 can be easily held by the holding device 60, and the holding can be easily released. It becomes.

(2nd Embodiment)
In the above-described embodiment, the case where the cart 2 is held by the main body 10 by using the hook 73 and engaging the hook 73 with the hanging portion 2c constituting the trailing edge of the cart 2 has been described. The configuration of the holding device 60 for holding the cart 2 is not limited to this. For example, the holding device 60 may be configured as shown in FIG.

  The holding device 170 of the carriage transport device 110 according to the second embodiment illustrated in FIG. 12 includes a base 171 similar to the base 61 of the holding device 60 according to the first embodiment. On the other hand, the holding device 170 according to the second embodiment includes an enclosing portion 172 connected to the base 171 and surrounding the carriage 2. The surrounding portion 172 includes a plate-shaped rear wall plate 172b extending in the left-right direction, and rods 172a, 172a extending forward from both left and right ends of the rear wall plate 172b, respectively. An accommodation space R2 for accommodating the carriage 2 is defined between the rear wall plate 172b and the rods 172a, 172a. A contact piece 172c is attached to the front end of each rod 172a. The contact piece 172c is a plate-like member extending in the left-right direction. Here, the rear wall plate 172b corresponds to a “rear wall portion” in the claims.

  The holding device 170 further has a slide drive unit 175 provided near the front end of each rod 172a to slide each contact piece 172c.

  Note that first connecting plates 174 and 174 extend forward from both left and right end portions of the base 171, respectively. The first connecting plate 174 connects the base 171 and the surrounding portion 172. The base 171 is connected to the main body 10 by a mechanism similar to that of the first embodiment, whereby the holding device 170 can move forward and backward in the same manner as in the first embodiment.

  The slide drive unit 175 slides the contact piece 172c in the left-right direction. The control device 32 causes each of the slide driving units 175 to move each of the contact pieces 172c in a direction approaching each other and a direction opposite thereto. As a result, the contact piece 172c is in a holding state in which it protrudes inward from the front end of each rod 172a toward the left and right inward (an intermediate position between the rods 172a, 172a), and a released state in which it protrudes right and left outward from the front end of each rod 172a. Can be switched. Specifically, the right contact piece 172c protrudes leftward from the front end of the right rod 172a in the holding state, and protrudes rightward from the front end of the right rod 172a in the released state. The left contact piece 172c projects rightward from the front end of the left rod 172a in the holding state, and projects leftward from the front end of the left rod 172a in the released state.

  When each contact piece 172c is in the released state, the carriage 2 can move relative to the main body 10 inside and outside the storage space R2. On the other hand, when each contact piece 172c is in the holding state, a part of the front open end of the accommodation space R2 is closed by the contact piece 172c. Therefore, when each of the contact pieces 172c is held in a state where the carriage 2 is accommodated in the accommodation space R2, the movement of the carriage 2 is restricted by the contact pieces 172c, and the movement of the carriage 2 is restricted. It is regulated by the rear wall plate 172b and held in the accommodation space R2.

  In the second embodiment, similarly to the first embodiment, when receiving a request to pick up and convey the carriage 2, the control device 32 drives the wheel drive motor 33 to target the open end R1 of the carriage accommodation space R. The first control for moving the main body 10 to the first target position facing the carriage 2 is performed. In the second embodiment, the first target position is set to a position where the target trolley 2 is accommodated in the accommodation space R2 when the holding device 170 is in the frontmost position state.

  When the main body 10 moves to the first target position, the control device 32 performs the second control of stopping the wheel drive motor 33 and moving the holding device 170 forward. Also in the second embodiment, in the second control, the control device 32 starts the rotation drive of the slide motor 51 and advances the holding device 170 in the last position state until the holding device 170 becomes the foremost position state.

  When the holding device 170 is in the frontmost position state, the control device 32 performs a third control for holding the target cart 2 by the holding device 170 that has moved forward.

  In the second embodiment, the control device 32 drives each slide drive unit 175 to slide each contact piece 172c in a direction approaching each other. Thus, the contact piece 172 regulates the forward movement of the target trolley 2, the rear wall 172 b restricts the rearward movement of the target trolley 2, and the target trolley 2 is held by the holding device 170.

  Next, the control device 32 performs a fourth control of retracting the holding device 170 and pulling the target trolley 2 into the trolley accommodation space R. When the holding device 60 retreats to the final position state, the control device 32 moves the main body 10 to the second target position, which is the transport destination, while the target vehicle 2 is pulled into the vehicle accommodation space R. 5 is performed. The fourth control and the fifth control are the same as in the first embodiment, and a detailed description thereof will be omitted.

  When the main body 10 reaches the second target position, the control device 32 stops driving the wheel drive motor 33 and advances the holding device 170 to the frontmost position state. Next, the control device 32 drives each slide drive unit 175 to slide each contact piece 172c in a direction away from each other, and moves the contact piece 172c to a position where it does not contact the target carriage 2. . Thereafter, the control device 32 causes the holding device 170 to retreat to the rearmost position state again. As a result, the cart 2 is placed at the target location.

  As described above, in the second embodiment, the carriage 2 is held by the holding device 170 by the abutment pieces 172c abutting on the left and right ends of the front surface of the carriage 2 from the front. Therefore, there is no need to provide a mechanism for locking the carriage 2 on the carriage 2, and the carriage 2 having a different shape and structure can be conveyed. For example, even when the cart 2 does not have a portion that can lock the hook 73 such as the hanging portion 2c, it can be held.

  The contact piece 172c protrudes from the front end of each rod 172a toward the accommodation space R2 and can be in contact with the trolley 2 from the front, and can be separated from this position and cannot contact the trolley 2 from the front. The specific configuration for switching this state is not limited to the configuration in which the contact piece 172c is slid in the left-right direction as described above.

(Other modifications)
In the above-described embodiment, the case has been described in which the control device 32 calculates the movement path of the main body 10 of the carriage transport device 1 and the drive wheel 15a is driven along this. The configuration for moving is not limited to this. For example, the moving path of the main body 10 may be set in advance on a mounting surface by a magnetic tape, a rail, or the like, and the main body 10 may be configured to move along the moving path.

  In the above-described embodiment, the case where the rear end of the first standing wall portion 23 and the rear end of the second standing wall portion 24 are connected by the second housing portion 22 has been described. May be bridged above, and accordingly, the bogie accommodation space R may be open both forward and rearward.

1 carriage transportation device (first embodiment)
2 bogie 2w bogie wheel 2x bogie main body 10 main body part 15 bogie transport device wheel 23 first upright wall (side member)
24 Second standing wall (side member)
32 control device 33 wheel drive device (travel drive device)
Reference Signs List 50 holding drive device 60 holding device 71 hook rotation motor (rotation drive unit)
72 Hook rotation axis (rotation axis)
73 hook (locking part)
110 carriage transportation device (second embodiment)
172a Rod 172c Contact piece 175 Slide drive unit (switching mechanism)

Claims (4)

An apparatus for transporting a trolley including a trolley body on which an article to be conveyed is mounted and wheels for movably supporting the trolley body,
A body portion including a pair of side members that define left and right side edges of a bogie housing space that is open at least in front;
A traveling drive device for moving the main body,
A holding device that detachably holds the cart with the cart wheels grounded,
A holding driving device that drives the holding device forward and backward with respect to the main body so that the holding device moves in the front-rear direction between the pair of side members;
The traveling drive device, a holding device, and a control device that controls the holding drive device,
The holding device includes: a locking portion that can be locked to a rear edge of the bogie main body; and a holding state in which the locking portion is locked to a rear edge of the bogie main body; A switching mechanism for switching to a release state in which is released, and a pressing portion provided above the locking portion and extending in the left-right direction,
The control device, when receiving a request to pick up and transport the carriage, performs first control for moving the main body to a position where an open end in front of the carriage accommodation space faces the carriage, and A second control for moving the holding device forward so that the device approaches the truck, a third control for holding the truck on the holding device that has moved forward, and retreating the holding device holding the truck. And the fourth drive for pulling the carriage into the carriage accommodation space and the fifth control for moving the main body while the carriage is retracted into the carriage accommodation space are executed. device, the holding device, and controls the holding driving device, when said third control execution, control the switching mechanism as the locking portion is the holding state from the released state To, carriage transport device, characterized in that. The cart transport device according to claim 1 ,
The switching mechanism has a rotation shaft to which the locking portion is attached at a front end, and a rotation drive unit that rotates the rotation shaft around the axis,
The control device is configured to control the traveling drive such that the locking portion is disposed below a rear edge of the bogie main body in a state where the holding device is positioned at the forefront when the first control is performed. Controlling the device, and controlling the rotation drive unit to rotate to a position where the locking unit locks with a trailing edge of the bogie main body when the third control is performed. Cart transport device. An apparatus for transporting a trolley including a trolley body on which an article to be conveyed is mounted and wheels for movably supporting the trolley body,
A body portion including a pair of side members that define left and right side edges of a bogie housing space that is open at least in front;
A traveling drive device for moving the main body,
A holding device that detachably holds the cart with the cart wheels grounded,
A holding driving device that drives the holding device forward and backward with respect to the main body so that the holding device moves in the front-rear direction between the pair of side members;
The traveling drive device, a holding device, and a control device for controlling the holding drive device,
The holding device includes a pair of rods driven by the holding driving device so as to move in the front-rear direction along the inner side surfaces of the pair of side members, and after connecting rear ends of the rods. A wall, a pair of abutting pieces attached to the front end of each of the rods and capable of abutting from the front to both left and right ends of the front surface of the bogie main body; is disposed in front parts possess a switching mechanism for switching to the release state holding state and the regulation is released for regulating the forward movement of the carriage body,
The control device, when receiving a request to pick up and transport the carriage, performs first control for moving the main body to a position where an open end in front of the carriage accommodation space faces the carriage, and A second control for moving the holding device forward so that the device approaches the truck, a third control for holding the truck on the holding device that has moved forward, and retreating the holding device holding the truck. And the fourth drive for pulling the carriage into the carriage accommodation space and the fifth control for moving the main body while the carriage is retracted into the carriage accommodation space are executed. A carriage transport device for controlling a device, a holding device, and a holding drive device. The cart transport device according to claim 3 ,
The switching mechanism has a slide drive unit that moves each of the contact pieces in a direction approaching each other with respect to a front end of each of the rods and in a direction opposite thereto,
The control device controls the holding driving device so that each of the contact pieces moves to a position corresponding to the front surface of the bogie main body during the execution of the second control, and controls the third control. A bogie transport device, wherein, at the time of execution, the slide drive unit is controlled such that the abutment pieces move in a direction approaching each other and are disposed in front of both right and left ends of the front surface of the bogie main body. .