JP6680518B2 - Vehicle transportation method - Google Patents

Description

The present invention relates to a method for transporting a vehicle in a facility such as a parking lot or an automobile maintenance shop.

  For example, Japanese Patent Application Laid-Open Publication No. 2004-242242 discloses a general state of the art of an entry / exit device that can transport a vehicle stopped at an arbitrary position to a predetermined position in a parking facility or the like.

  The device disclosed in Patent Document 1 is composed of a left-side transport vehicle and a right-side transport vehicle each having a vehicle support mechanism and a traveling mechanism, and the left-side transport vehicle and the right-side transport vehicle move independently of each other and cooperate with each other. It supports and transports the vehicle.

  The left and right transport carriages cooperate by exchanging information in real time by wireless communication.

  However, in the transport vehicle as shown in Patent Document 1, when there is not enough empty space on the left and right sides of the vehicle, the transport vehicle cannot approach the left and right sides of the vehicle, and the vehicle cannot be transported. It had a drawback.

  Further, in a vehicle test facility or the like, several workers may move the vehicle while pushing the vehicle. In such a case, the burden on the worker is great, and it takes time and labor, and therefore there has been a demand for the development of an apparatus capable of reliably transporting the vehicle with a simple configuration.

  Therefore, the inventors of the present invention have proposed and filed a vehicle transporting device that can reliably transport the vehicle with a simple configuration even if there are not enough empty spaces on the left and right sides of the vehicle. As a technical document of this kind by the present inventors, for example, there is Patent Document 2 below. Further, as a general technical level relating to a vehicle carrying device or method used in equipment such as a multi-storey parking lot, there is Patent Document 3, for example.

  Patent Document 2 describes a vehicle transfer device including a lifter including a pair of lift bars that lift up while supporting the wheels of the vehicle so as to sandwich the wheels from the front and rear, and a total of four lifters on the front, rear, left, and right of the bogie body. There is. When transporting the vehicle, among the lift bars of the lifter, only the lift bar located on the rear side of the rear wheels of the vehicle is rotated to the deployed position, and the other lift bars are rotated to the retracted position. Then, when the trolley body is advanced to the lower part of the vehicle, the lift bar rotated to the storage position passes between the wheels, but the lift bar located on the rear side of the rear wheel rotated to the deployed position contacts the rear wheel. The carriage main body is positioned with respect to the vehicle. After that, by rotating all the lift bars to the deployed position, the wheels are lifted while being supported so as to sandwich each wheel from the front and rear.

  Patent Document 3 describes a vehicle conveyance device including a tire clamping device that clamps a wheel of a vehicle from a front-rear direction with a pair of arms (first arm and second arm) on the left and right of each of two sets of front and rear bogies. Has been done. When transporting a vehicle, move the front and rear bogies between the front and rear wheels with the arms of the front and rear bogies opened in the front and rear directions, and then rotate the arms horizontally to a predetermined position. The front and rear wheels are clamped from the front and back.

JP 2004-169451 A JP, 2013-19210, A JP, 2005-40405, A

  However, in the vehicle transporting device disclosed in Patent Document 2, since the distance between the lifters for lifting the front wheels and the rear wheels of the vehicle in the front-rear direction and the position with respect to the bogie body are constant, the vehicle can be transported. The wheelbase and front and rear overhangs were limited.

  In the vehicle transfer device disclosed in Patent Document 3, since the first arm and the second arm operate simultaneously, when the vehicle is transferred, the position of the trolley or the tire pinching device is accurately aligned with the vehicle. Therefore, it is necessary to operate the first arm and the second arm, which makes it difficult to position the transport device with respect to the vehicle. Further, since the distance between the front and rear bogies is constant, there is a problem similar to that of Patent Document 2 in that the wheel base of the vehicle that can be transported is limited.

  Moreover, in these vehicle transfer devices, since the lift bar and the arm are rotated in front of and behind the wheels, it is necessary that there are no objects around the wheel that hinder the rotation of the lift bar or the arm when the vehicle is transferred. is there. Therefore, it cannot be used in a place where wheel stoppers are installed, and when the vehicle is stopped by the device prior to transportation, it is difficult for the driver of the vehicle to know the target stop position. It was

In view of such a situation, the present invention is capable of supporting a wide range of vehicle types, which is less likely to be restricted by a vehicle wheel base or overhang, and can be easily aligned with the vehicle for vehicle transportation. It is intended to provide a transportation method .

The present invention is a self-propelled vehicle having a front bogie configured to be self-propelled with a lifter for lifting up front wheels or rear wheels of a vehicle on a side surface and a lifter for lifting up a front wheel or a rear wheel of the vehicle on a side surface. The two gripping carriages of the rear carriage that are configured to be capable of traveling independently of each other , the lifter includes a storage position along a side surface of the gripping carriage, and a deployment position that laterally extends from the storage position. And a front arm and a rear arm, the front arm and the rear arm being in the deployed position, the front wheel of the vehicle. Alternatively, it is configured to lift up while supporting the rear wheels so as to be pinched from the front and rear, and the front arm of the front bogie is rotated to the deployed position and the rear arm to the retracted position prior to the lift up of the vehicle. , The front arm and the rear arm of the rear bogie are rotated to the retracted position, the vehicle is arranged in the order of the vehicle, the rear bogie, and the front bogie, and the vehicle is the two units. Of one of the front wheel and the rear wheel has passed the side of the rear carriage, and then the front arm of the rear carriage is rotated to the deployed position to move the front side of the rear carriage. The arm is brought into contact with the other of the front wheel or the rear wheel to perform positioning, and the vehicle is stopped when one of the front wheel or the rear wheel comes into contact with the front arm of the front carriage, and the vehicle is lifted up. It relates to a method of transporting a vehicle.

  In the vehicle transportation method of the present invention, the step of rotating the front arm of the rear carriage to the deployed position and bringing the front arm of the rear carriage into contact with the other of the front wheel or the rear wheel is the front wheel or This can be performed after the step of stopping the vehicle when one of the rear wheels abuts on the front arm of the front carriage.

According to the vehicle transportation method of the present invention, it is possible to cope with vehicle transportation of a wide variety of vehicle types without being restricted by the wheelbase and overhang of the vehicle, and to easily perform alignment with the vehicle for vehicle transportation. It can exert an excellent effect.

It is a side view which shows an example of the form of the conveyance apparatus of a vehicle . It is a bottom view which shows the form of the principal part of the conveyance apparatus of a vehicle . It is a schematic bottom view which shows another example of the form of the principal part of the conveyance apparatus of a vehicle . FIG. 4 is a front view showing a connecting member that connects the drive frame and the lift frame in the vehicle conveyance device, and is a view corresponding to the arrow IV-IV in FIG. 2. It is a block diagram which shows the outline of the control system in the conveyance apparatus of a vehicle . It is a flowchart which shows the 1st reference example of the conveyance method of the vehicle of this invention. It is a schematic bottom view explaining operation | movement of the conveyance apparatus of the vehicle in a 1st reference example . It is a schematic bottom view explaining operation | movement of the conveying apparatus of a vehicle continuously from FIG. It is a flowchart which shows the 2nd reference example of the vehicle conveyance method of this invention. It is a schematic bottom view explaining operation | movement of the conveyance apparatus of the vehicle in a 2nd reference example . FIG. 11 is a schematic bottom view illustrating the operation of the vehicle transport device continuously from FIG. 10. It is a flow chart which shows the 1st example of the transportation method of the vehicle of the present invention. It is a schematic bottom view explaining operation | movement of the conveyance apparatus of the vehicle in 1st Example of this invention. It is a schematic bottom view explaining operation | movement of the conveyance apparatus of a vehicle continuously from FIG. It is a flow chart which shows the 2nd example of the transportation method of the vehicle of the present invention. It is a schematic bottom view explaining operation | movement of the conveyance apparatus of the vehicle in 2nd Example of this invention. FIG. 17 is a schematic bottom view for explaining the operation of the vehicle transport device continuously from FIG. 16.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 to 4 show an example of the form of a carrier device for a vehicle used for carrying out the present invention. Reference numeral 1 denotes a vehicle. Two gripping carriages 3 (a front carriage 3a and a rear carriage 3b) that can travel in the front-rear direction by a drive wheel 2 and can enter the lower portion of the vehicle 1 are attached to the front wheels 1a or the rear wheels of the vehicle 1. A lifter 4 that lifts up the wheel 1b is provided. The two gripping carriages 3 run independently of each other.

  As shown in FIGS. 1 and 2, each of the two gripping carriages 3 (front carriage 3a and rear carriage 3b) has a pair of gripping arms of a front arm 6 and a rear arm 7 on both sides of the carriage body 5. And the left and right lifters 4 are formed by a total of two pairs of gripping arms. The lifter 4 supports the front wheel 1a and the rear wheel 1b of the vehicle 1 by the front bogie 3a and the rear bogie 3b, respectively, and drives the drive wheels 2 to make the front bogie 3a and the rear bogie 3b self-propelled. 1 is conveyed to a predetermined place.

  Here, when the vehicle 1 is transported, the vehicle 1 is moved in advance to a predetermined place where the gripping carriage 3 is installed or in the vicinity thereof, and then the gripping carriage 3 is operated with respect to the vehicle 1 and, if necessary, the vehicle. It is necessary to support the vehicle 1 on the gripping carriage 3 while moving 1 as well. In some cases, it is necessary to keep the vehicle 1 supported on the gripping carriage 3 in a fixed space. Hereinafter, in the present specification, a space for supporting and holding the vehicle 1 on the gripping carriage 3 is referred to as a "support operation section".

  If the place where the vehicle 1 is transported is, for example, a factory, a vehicle test facility, a warehouse-type parking lot, or the like, the vehicle 1 is supported by two front and rear gripping carriages 3 provided on the floor surface, and the two vehicles are directly supported. It is assumed that the gripping cart 3 of the platform is self-propelled on the floor surface and is transported to a target place. In this case, the support operation section is a predetermined space on the floor surface. Further, if the place where the transportation is carried out is a three-dimensional parking lot or the like, a transportation machine of a type in which the vehicle 1 is loaded on a pallet and moved is provided, and the pallet and the other floor surface It is conceivable to transport the vehicle 1 by using the gripping carriage 3 between them. In this case, it can be said that the support operation section is the pallet or a peripheral area including the pallet. FIG. 1 illustrates a state in which the vehicle 1 is supported by the gripping carriage 3 on the pallet P.

  The configuration of each gripping carriage 3 will be described with reference to FIGS. As shown in FIG. 2, the carriage main body 5 includes a drive frame 8 that is provided at the center in the left-right direction and that includes the drive wheels 2, and a lift frame 9 that includes the lifter 4 and that forms both side surfaces of the carriage main body 5. It is connected by 10.

  The four gripping arms (the front arms 6 and 6 and the rear arms 7 and 7) forming the two sets of lifters 4 are attached to the lift frame 9 so as to be rotatable in the horizontal direction. And a storage position (position indicated by a solid line) along a side surface of the vehicle and a lift-up while supporting each wheel of the vehicle 1 (front wheel 1a or rear wheel 1b) from the front and rear so as to project laterally from the storage position. It is adapted to rotate with respect to a deployed position (position indicated by a virtual line).

The rotation of the four gripping arms is driven by an arm rotating mechanism 11 provided on the lift frame 9. In the case of this example , the arm rotation mechanism 11 is configured as a hydraulic cylinder 11 mounted so as to bridge between the respective gripping arms (the front arm 6 and the rear arm 7) and the trolley body 5 side. Each hydraulic cylinder 11 is rotatably attached to the lift frame 9 at the base end of the cylinder body 11a and at the middle of each gripping arm at the tip end of the rod 11b. When the hydraulic cylinder 11 contracts, the gripping arms rotate to the storage position, and when the hydraulic cylinder 11 extends, the gripping arms rotate to the deployed position.

  In the example shown in FIG. 2, since each of the four gripping arms is provided with the hydraulic cylinder 11, it is possible to independently operate each of the gripping arms, but this is not always the case. It doesn't have to be. Of the gripping arms that compose the two sets of lifters 4 in one gripping carriage 3, the two front arms 6 and 6 and the two rear arms 7 and 7 are configured to operate simultaneously, respectively. It may be. FIG. 3 shows an example of the layout of the lifter 4 and its surroundings when the lifter 4 is configured as such. A hydraulic cylinder 11 as an arm rotating mechanism is laid between the left and right front arms 6 and 6, and the cylinder body is The base end of 11a is rotatably attached to one front arm 6, and the tip of the rod 11b is rotatably attached to the other front arm 6. Similarly, the hydraulic cylinder 11 is spanned between the left and right rear arms 7, 7 so that the base end of the cylinder body 11a is one rear arm 7 and the tip of the rod 11b is the other rear arm 7. Each is rotatably attached. In this case, the hydraulic cylinders 11 contract to rotate the gripping arms to the storage positions (positions indicated by solid lines), and the hydraulic cylinder 11 extends to expand the gripping arms to positions (imaginary lines). Although it rotates to the position (shown), the two front arms 6 and 6 and the two rear arms 7 and 7 also serve as hydraulic cylinders 11, respectively. , 6 operate simultaneously, and the two rear arms 7, 7 also operate simultaneously. However, the front arms 6 and 6 and the rear arms 7 and 7 operate independently of each other.

  Further, the configuration of the arm rotating mechanism 11 is not limited to the hydraulic cylinder shown here. An electric cylinder may be used instead of the hydraulic cylinder, or a device using gears may be used. In addition, various mechanisms can be adopted as long as the front arm 6 and the rear arm 7 are configured to perform the above-described operation.

  Casters 12 for supporting the load of the vehicle 1 are attached to a plurality of required portions of the carriage main body 5 and to the tips of the gripping arms.

  As shown in FIG. 4, the connecting member 10 includes a pin 10 a provided on the lift frame 9 and extending in the vertical direction, and a bracket 10 b provided on the drive frame 8 and fitted to the pin 10 a. The load of the vehicle 1 (see FIG. 1) applied to the lifter 4 provided in the drive frame 8 is not transmitted to the drive wheels 2 provided in the drive frame 8. The pin 10a may be provided on the drive frame 8 instead of the lift frame 9, and the bracket 10b fitted to the pin 10a may be provided on the lift frame 9 instead of the drive frame 8 to configure the connecting member 10. .

  Position sensors 13 for detecting the position of the vehicle 1 with respect to the front carriage 3a or the rear carriage 3b are provided at required positions of the front carriage 3a and the rear carriage 3b.

  In the example shown in FIG. 2, the position sensor 13 is configured as an optical sensor provided on one side of the gripping carriage 3, and its mounting position is between the front arm 6 and the rear arm 7 of the lifter 4. is there. By detecting the approaching wheel (front wheel 1a or rear wheel 1b) from this position, the position of the vehicle 1 (see FIG. 1) with respect to the gripping carriage 3 is detected.

  The configuration and arrangement of the position sensor 13 are not limited to the example shown here. For example, even if an ultrasonic sensor or the like is used as the position sensor 13 instead of the optical sensor, the position of the vehicle 1 can be similarly detected. In addition, the position sensor 13 is configured as a hydraulic pressure sensor provided in the hydraulic cylinder 11 that rotates the front arm 6, and the fact that the front wheel 1a or the rear wheel 1b is in contact with the front arm 6 in the deployed position is controlled by the hydraulic pressure in the hydraulic cylinder 11. Can also be detected as a change in When an electric cylinder is used instead of the hydraulic cylinder 11 as the arm rotating mechanism, the position sensor 13 can be configured as a sensor that detects the load of the motor that drives the electric cylinder. Further, a plurality of types of position sensors 13 may be combined, for example, the front carriage 3a is provided with a position sensor 13 which is a hydraulic sensor of the hydraulic cylinder 11, and the rear carriage 3b is provided with a position sensor which is an optical sensor on a side surface thereof. 13 may be provided.

  The number of required position sensors 13 may vary depending on the operating procedure of the gripping carriage 3 described later. In some cases, the position sensor 13 may be required for both the front carriage 3a and the rear carriage 3b, or in some cases it may be sufficient to install the position sensor 13 only in the rear carriage 3b. In some cases, it is not necessary to install the position sensor 13.

  Alternatively, instead of providing the position sensor 13 on the gripping carriage 3, for example, as shown in FIG. 1, the position sensor 13 may be provided in the supporting operation section or the surrounding facility side to monitor the position of the vehicle 1 from the surroundings. In this case, the configuration of the position sensor 13 may be an optical sensor or an ultrasonic sensor, and for example, a device for photographing the image of the vehicle 1 or the gripping carriage 3 with a camera or the like and determining the position of the vehicle 1 by image processing. You can also

  The position sensor 13 may be configured to detect not only the position of the vehicle 1 with respect to the gripping carriage 3 but also the position of the vehicle 1 in the support operation section by combining or using the various configurations as described above. it can. In any case, it suffices that the position sensor 13 be configured and arranged so as to execute the operation of the gripping carriage 3 described later. The required configuration and arrangement of the position sensor 13 will be described in detail later along with the operation procedure of the gripping carriage 3.

  The drive frame 8 of the trolley body 5 is provided with a drive control unit 14 that controls the drive of the drive wheels 2 and the expansion and contraction of the hydraulic cylinder 11. FIG. 5 shows an example of a block diagram of a control system by the drive control unit 14.

  The drive controller 14 drives and brakes the drive wheel 2 via the motor 2a and the brake 2b of the drive wheel 2 (see FIGS. 1 to 4). Thus, the movement of each gripping carriage 3 itself with respect to the floor surface is controlled.

  A carriage movement sensor 15 is provided at a required position of the gripping carriage 3 so as to detect the moving speed and the moving distance of the gripping carriage 3. The carriage movement sensor 15 can be configured as, for example, a rotation sensor attached to the motor 2a of the drive wheel 2 (see FIGS. 1 to 4). The position sensor 13 may have the function of the carriage movement sensor 15 depending on the configuration and mounting position of the position sensor 13.

  The drive control unit 14 operates the arm rotation mechanism (hydraulic cylinder) 11 (see FIGS. 1 to 4) forming the front arm 6 and the rear arm 7 via the rotation control unit 11c. The rotation control unit 11c is configured as, for example, a hydraulic unit 11c that supplies and discharges pressure oil to and from the hydraulic cylinder 11 by a hydraulic piping system including a hydraulic motor in a hydraulic circuit, and controls the rotation of the gripping arm by hydraulic pressure. It is supposed to do. As described above, the hydraulic unit 11c can move the hydraulic cylinder 11 of the front arm 6 and the hydraulic cylinder 11 of the rear arm 7 independently of each other.

  As described above, an electric cylinder may be used as the arm rotating mechanism 11 instead of the hydraulic cylinder, or the four gripping arms may be driven by a driving mechanism via gears. In this case, The rotation control unit 11c is configured as a device in which the electric cylinder or the drive mechanism and the battery are connected by electrical wiring. As described above, the rotation control unit 11c can have various configurations according to the configuration of the arm rotation mechanism 11.

  Further, the arm rotation mechanism 11 includes a deployment confirmation sensor 16 which outputs a deployment confirmation signal 16a in accordance with the completion of rotation of each gripping arm to the deployment position, and a completion of rotation of each gripping arm to the storage position. A storage confirmation sensor 17 for transmitting a storage confirmation signal 17a is provided. The expansion confirmation signal 16a and the storage confirmation signal 17a are input to the drive control unit 14, and the drive control unit 14 operates the arm rotation mechanism (hydraulic cylinder) 11 in response to the input of the development confirmation signal 16a and the storage confirmation signal 17a. It is supposed to stop.

  The position signal 13 a is input from the position sensor 13 to the drive control unit 14.

  In addition, the gripping trolley 3 is necessary for the operation of the devices constituting the gripping trolley 3, such as a hydraulic motor of the hydraulic unit 11c, a battery (not shown) such as a lead storage battery for energizing the motor 2a of the driving wheel 2, and the like. It is equipped with various devices and mechanisms.

  Outside the front and rear gripping carriages 3a and 3b, there is provided a control device 18 for control that controls the entire operation of the gripping carriages 3a and 3b. The control device 18 for control communicates with the drive control unit 14 of the front and rear gripping trolleys 3a and 3b, and cooperates with the front and rear gripping trolleys 3a and 3b to drive the drive wheels 2 and arm rotations provided on the respective gripping trolleys 3a and 3b. The operation of the mechanism 11 is controlled. The control device 18 for control may be configured to perform a predetermined operation in response to the input of the transportation permission signal 18a from the user.

  Next, a method of transporting a vehicle by the above-described vehicle transport device will be described.

6 to 8 illustrate an example ( first reference example) of the method of transporting the vehicle 1 using the above-described gripping carriage 3. Here, a case where the vehicle 1 is transported from the outside of the pallet P onto the pallet P by the two gripping carriages 3 in the support operation section of equipment such as a multi-story parking lot equipped with the pallet P will be described. Incidentally, the pallet P is not essential in the present invention is as it is described above that may be used to transport device such as a vehicle above the equipment without the pallet P, the conveying steps pallet P to be described below It is established even if there is not (the same applies to the transfer procedure described later in FIGS. 9 to 11, 12 to 14 and 15 to 17).

  When carrying the vehicle 1, first, as step S1 (see FIG. 6), as shown in FIG. 7 (a), the vehicle 1 is placed behind the front carriage 3a and the rear carriage 3b arranged on the pallet P. Position it. That is, the vehicle 1, the rear carriage 3b, and the front carriage 3a are arranged in this order. At this time, the lifter 4 is in a state in which the front arm 6 is rotated to the deployed position and the rear arm 7 is rotated to the storage position in the front carriage 3a, and the rear arm 3 and the rear arm 7 are rotated in the rear carriage 3b. Each of the arms 7 is in a state of being rotated to the storage position. The front bogie 3a and the rear bogie 3b are arranged such that the distance between the lifter 4 of the front bogie 3a and the lifter 4 of the rear bogie 3b is less than or equal to the wheel base of the vehicle 1. The drive wheels 2 of the front carriage 3a are in a freely rotating state, and the drive wheels 2 of the rear carriage 3b are locked.

  From this state, as step S2 (see FIG. 6), the vehicle 1 is advanced toward the two gripping carriages 3 located in the front. As shown in FIG. 7B, when the front wheel 1a of the vehicle 1 reaches the side of the lifter 4 provided on the rear carriage 3b, the position sensor 13 provided at this position indicates that the vehicle 1 has reached this position. Is detected. As the position sensor 13, for example, an optical sensor or an ultrasonic sensor is assumed.

  As shown in FIG. 7C, when the vehicle 1 further advances and the front wheels 1a pass the position of the lifter 4 provided on the rear carriage 3b, the position sensor 13 detects the passing.

  The fact that the position sensor 13 of the rear carriage 3b has detected the passage of the vehicle 1 is input to the drive control unit 14 of the rear carriage 3b as a position signal 13a (see FIG. 5). In response to the input of the position signal 13a, the drive control unit 14 drives the hydraulic cylinder 11 of the rear carriage 3b in step S3 (see FIG. 6) to move the front arm 6 to the expanded position as shown in FIG. 8 (d). Rotate to.

  As step S4 (see FIG. 6), the vehicle 1 is further advanced. Here, the vehicle 1 is moved forward until the front wheel 1a reaches the side of the front carriage 3a and comes into contact with the front arm 6 in the deployed position on the side of the front carriage 3a.

  Subsequently, as step S5 (see FIG. 6), the vehicle 1 is further advanced in a state where the front wheel 1a is in contact with the front arm 6 of the front carriage 3a. As described above, since the drive wheels 2 of the front bogie 3a are in a freely rotating state, the front bogie 3a moves forward as the front wheel 1a pushes the front arm 6 to follow the movement of the vehicle 1. .

  When the vehicle 1 continues to move forward, as shown in FIG. 8 (e), the rear wheel 1b reaches the side of the lifter 4 of the rear carriage 3b and comes into contact with the front arm 6 in the deployed position. As described above, the drive wheels 2 of the rear carriage 3b are locked, and the front arm 6 in the deployed position on the side of the rear carriage 3b functions as a wheel stopper, so that the vehicle 1 moves the rear wheels 1b forward. It will be blocked and you will not move forward from this position. Further, at this time, when the rear wheel 1b reaches the side of the lifter 4 of the rear carriage 3b, the drive wheels 2 of the front carriage 3a are locked so that the front arm 6 of the front carriage 3a serves as a wheel stopper. good. The vehicle 1 is stopped at this position.

  The fact that the vehicle 1 has reached this position is detected by a position sensor 13 provided on the side of the rear carriage 3b, and is input to the drive control unit 14 of the rear carriage 3b as a position signal 13a (see FIG. 5). . The drive control unit 14 performs the operation of the next step S6 in response to the input of the position signal 13a to the drive control unit 14 of the rear carriage 3b (see FIG. 6). Alternatively, here, the driver getting off the vehicle 1 inputs the transportation permission signal 18a to the control device 18 for control (see FIG. 5), and performs the operation of the next step S6 in response to the input of the transportation permission signal 18a. You can Alternatively, the movement distance of the front carriage 3a is detected by monitoring the carriage movement sensor (rotation sensor) 15 (see FIG. 5), and the operation of step S6 is performed when the front carriage 3a has moved a predetermined distance. Is also good.

  The drive control unit 14 of the front and rear gripping carriages 3a and 3b drives the hydraulic cylinder 11 in step S6 (see FIG. 6) to rotate each rear arm 7 to the deployed position as shown in FIG. 8 (f). To move. The lifters 4 of both gripping carts 3a and 3b lift up while supporting the front wheel 1a or the rear wheel 1b of the vehicle 1 so as to be sandwiched between the front arm 6 and the rear arm 7 from the front and rear.

  That is, when the vehicle 1 is advanced into the front and rear gripping carriages 3 before the vehicle 1 is lifted up, the rear arm 7 of the front carriage 3a is rotated to the retracted position to pass between the front wheels 1a, By rotating the front arm 6 to the deployed position and contacting the front wheel 1a, the front carriage 3a is positioned with respect to the front wheel 1a. Similarly, the rear arm 7 of the rear carriage 3b is pivoted to the retracted position so as to pass between the rear wheels 1b, while the front arm 6 is pivoted to the deployed position at the timing when the front wheel 1a passes, and then, By contacting the rear wheel 1b, the rear carriage 3b is positioned with respect to the rear wheel 1b. Then, after positioning each gripping carriage 3 with respect to the vehicle 1, the rear arm 7 of each gripping carriage 3 is rotated to the deployed position to lift up the vehicle 1.

  After that, the pallet P is moved together with the two front and rear gripping carts 3 supporting the vehicle 1. When the vehicle 1 is stored while being placed on the pallet P, the vehicle 1 lifted up by the gripping carriage 3 may be moved to the storage destination while being loaded on the pallet P. Alternatively, after transporting the vehicle 1 onto the pallet P, the front arm 6 and the rear arm 7 of the lifter 4 are rotated to the retracted position, and the front wheels 1a and the rear wheels 1b of the vehicle 1 are lifted up from the pallet P top. Take it down. Subsequently, the two gripping carts 3 are pulled out from the lower portion of the vehicle 1, and the pallet P is moved to the storage destination while the vehicle 1 is directly loaded on the pallet P without the gripping cart 3 interposed therebetween.

  When the vehicle 1 is transported by the pallet P and then stored in a storage position outside the pallet P, the pallet P is moved together with the vehicle 1 in a state of being lifted up by the gripping carriage 3, and then the vehicle 1 is lifted. The drive wheels 2 are driven in the state where the vehicle 1 is kept up to allow both gripping carts 3 to travel by themselves, and the vehicle 1 is transported to the outside of the pallet P. Then, the front and rear two gripping carts 3 on which the vehicle 1 is mounted are moved to a predetermined position to be transported, and the front arm 6 and the rear arm 7 of the lifter 4 are rotated to the storage position, and the front wheel 1a of the vehicle 1 is moved. , The rear wheel 1b is lifted up and then lowered onto the floor surface. Then, the two gripping carts 3 are pulled out from the lower portion of the vehicle 1 and returned onto the pallet P, and the transportation of the vehicle 1 is completed.

  In the case of a facility such as a warehouse-type parking lot that conveys the vehicle 1 without using the pallet P, after the vehicle 1 is lifted up by the two front and rear gripping carriages 3 (see FIG. 8F), each gripping is performed as it is. The carriage 3 is moved to a predetermined position to be transported, the front arm 6 and the rear arm 7 of the lifter 4 are rotated to the retracted position, and the front wheels 1a and the rear wheels 1b of the vehicle 1 are lifted up from the floor surface. Take it down. Then, the two gripping carts 3 are pulled out from the lower portion of the vehicle 1 to complete the transportation of the vehicle 1.

  In addition, in the above-described transportation procedure, it is assumed that the position sensor 13 is an optical sensor or an ultrasonic sensor that is attached to the position of the lifter 4 of the rear carriage 3b and detects the position of the wheel, but other than this. The configuration and arrangement of can also be adopted. For example, a similar position sensor 13 may be installed in the front truck 3a to detect the position of the front wheel 1a from the front truck 3a, or the hydraulic pressure for driving the front arm 6 of the front truck 3a or the rear truck 3b. The position sensor 13 that detects the hydraulic pressure of the cylinder 11 (the load of the motor of the electric cylinder when the hydraulic cylinder 11 is used instead of the hydraulic cylinder 11) is transferred to the front arm 6 of the front wheel 1a or the rear wheel 1b. You may make it detect contact. Further, the transportation procedure may be executed by a position sensor 13 (for example, see FIG. 1) configured to monitor the position of the vehicle 1 from the surroundings in preparation for surrounding facilities. In any case, the position of the vehicle 1 may be detected at an appropriate timing so that the operations of the front bogie 3a and the rear bogie 3b described above can be executed.

  In the above-described transportation procedure, the vehicle 1 moves with respect to the two gripping trolleys 3 on the floor surface, the front wheels 1a contact the front trolley 3a, and then the front trolley 3a moves forward following the movement of the vehicle 1. By moving, the gripping carriage 3 supports the wheels in an arrangement that matches the positions of the wheels in the vehicle 1. Therefore, the transportation of the vehicle 1 is less likely to be affected by the wheel base of the vehicle 1 or an overhang.

That is, when transporting or storing the vehicle 1, it is necessary to keep the vehicle 1 supported on the gripping carriage 3 in a certain space in some cases. For example, when the vehicle 1 is loaded on the pallet P and transported, in principle, the vehicle 1 must be prevented from protruding from the top of the pallet P. Alternatively, if the support position of the wheels in the transfer device of the vehicle is fixed, the wheel base of the vehicle 1 that can be transferred is fixed by the support position of the wheels in the transfer device of the vehicle. Further, the range of the overhang of the vehicle 1 is also limited by the size of the pallet P and the position of the transportation device of the vehicle with respect to the pallet P. Here, as in the example described above, the front and rear gripping carriages 3 that respectively support the front wheels 1a or the rear wheels 1b operate independently of each other, and the positions in the pallet P and the positions of the gripping carriages 3 can be freely moved. Thus, as long as the size of the vehicle 1 is within the range that can be accommodated in the pallet P, the vehicle 1 can be properly placed on the pallet P by the two front and rear gripping carriages 3 regardless of the wheel base and overhang. It can be loaded.

Particularly, in the case of the first reference example, since the front bogie 3a supporting the front wheels 1a follows the forward movement of the vehicle 1 so as to move forward, the front overhang is relatively small and the rear overhang is large. Alternatively, it is effective when the vehicle 1 having a large wheel base is to be housed in a fixed space such as the pallet P.

  Alternatively, when the position sensor 13 capable of detecting the position of the vehicle 1 in the support operation section is installed (see FIG. 1), after the vehicle 1 is lifted up as shown in FIG. The drive control unit 14 may be operated in cooperation with the position sensor 13 to move the two front and rear gripping carriages 3 so that the vehicle 1 is accommodated in the pallet P.

  In the above example, the case where the vehicle 1 is moved forward with respect to the two gripping carriages 3 positioned in front of the vehicle 1 has been described. It goes without saying that the vehicle 1 can be similarly conveyed even if it is moved backward (that is, the direction of the vehicle 1 may be reversed in FIGS. 7 and 8).

9 to 11 illustrate another example ( second reference example) of the transportation method of the vehicle 1 when moving the two gripping carts 3 with respect to the stopped vehicle 1. In the first reference example described above, the case where the vehicle 1 is entered into the two gripping carts 3 that are stopped has been described . In the second reference example, on the contrary, the stopped vehicle 1 On the other hand, the two gripping carts 3 are moved so that the gripping carts 3 are made to sneak under the vehicle 1, and the vehicle 1 is lifted up and transported.

In the case of the second reference example, as the position sensor 13, an optical sensor or an ultrasonic sensor for detecting approach of wheels (front wheel 1a, rear wheel 1b) is installed on both the front carriage 3a and the rear carriage 3b. Although it is assumed, the configuration and the number of position sensors 13 may be changed depending on the case.

  First, as step S11 (see FIG. 9), as shown in FIG. 10A, the vehicle 1 is stopped behind the front carriage 3a and the rear carriage 3b arranged on the pallet P. That is, the vehicle 1, the rear carriage 3b, and the front carriage 3a are arranged in this order. At this time, the lifter 4 is in a state in which the front arm 6 is rotated to the deployed position and the rear arm 7 is rotated to the storage position in the front carriage 3a, and the rear arm 3 and the rear arm 7 are rotated in the rear carriage 3b. Each of the arms 7 is in a state of being rotated to the storage position.

  From this state, as step S12 (see FIG. 9), the two gripping carriages 3 are run toward the vehicle 1 located outside the pallet P at the rear. The operation of step S12 is started, for example, when the driver getting off the vehicle 1 inputs the transportation permission signal 18a to the drive control unit 14 (see FIG. 5).

  As shown in FIG. 10 (b), the rear bogie 3 b moves to the position of the front wheel 1 a of the vehicle 1, and the lifter 4 of the rear bogie 3 b reaches the side of the front wheel 1 a of the vehicle 1 to prepare for this position. The position sensor 13 detects that the rear carriage 3b has reached this position.

  As shown in FIG. 10C, when the rear carriage 3b moves further rearward and the lifter 4 provided on the rear carriage 3b passes the side of the front wheel 1a, the position sensor 13 detects that it has passed.

  The fact that the vehicle has passed the side of the front wheel 1a is input as a position signal 13a from the position sensor 13 to the drive control unit 14 of the rear carriage 3b (see FIG. 5). In response to the input of the position signal 13a, the drive control unit 14 drives the hydraulic cylinder 11 of the rear carriage 3b to deploy the front arm 6 as shown in FIG. 11D in step S13 (see FIG. 9). Rotate to the position.

  In step S14 (see FIG. 9), when the rear carriage 3b is further moved backward from the position shown in FIG. 11 (d), the front arm 6 in the deployed position on the side of the rear carriage 3b moves to the position shown in FIG. 11 (e). As shown in FIG.

  As step S15 (see FIG. 9), simultaneously with the backward movement of the rear vehicle 3b, the front vehicle 3a is also caused to travel rearward (see FIGS. 10 (b) to 11 (d)). The rear arm 7 in the storage position on the side of the front carriage 3a passes between the front wheels 1a, and then the front arm 6 in the deployed position abuts the front wheel 1a as shown in FIG. 11 (e).

In the second reference example, the operation of the rear bogie 3b of steps S12 to S14 and the operation of the front bogie 3a of steps S12 and S15 may be performed at the same time or partially. . For example, the front arm 6 of the rear carriage 3b may abut the rear wheel 1b before starting the reverse movement of the front carriage 3a, or the rear carriage 3b may be moved backward while the front carriage 3a is moving backward. The front arm 6 may contact the front wheel 1a, and then the front arm 6 of the rear carriage 3b may contact the rear wheel 1b.

  The fact that the rear carriage 3b has reached the position where the front arm 6 of the rear carriage 3b contacts the rear wheel 1b is detected by the position sensor 13 provided on the side of the rear carriage 3b, and the rear side signal 3a is output as a position signal 13a. It is input to the drive control unit 14 of the carriage 3b (see FIG. 5). Further, the arrival of the front carriage 3a to the position where the front arm 6 of the front carriage 3a contacts the front wheel 1a is detected by the position sensor 13 provided on the side of the front carriage 3a, and the position signal 13a indicates that the front carriage 3a It is input to the drive control unit 14. At this time, the moving distance of the front and rear gripping carriages 3 is detected by monitoring the rotation sensor 15 (see FIG. 5), and when the front carriage 3a or the rear carriage 3b moves a predetermined distance, the front carriage 3a or It may be determined that the front arm 6 of the rear carriage 3b has contacted the front wheel 1a or the rear wheel 1b.

  The drive control unit 14 of both gripping carriages 3a and 3b, which has received the input of the position signal 13a, respectively drives the hydraulic cylinders 11 in step S16 to move the rear arm 7 to the deployed position as shown in FIG. 11 (f). Rotate. The lifters 4 of both gripping carts 3a and 3b lift up while supporting the front wheel 1a and the rear wheel 1b of the vehicle 1 so as to be sandwiched between the front arm 6 and the rear arm 7 from the front and rear.

  That is, when the front and rear gripping trucks 3 are moved into the vehicle 1 prior to the lift-up of the vehicle 1, the rear arm 7 of the front truck 3a is pivoted to the retracted position to pass between the front wheels 1a and the front wheel 1a. The arm 6 is rotated to the deployed position and brought into contact with the front wheel 1a to position the front carriage 3a with respect to the front wheel 1a. Similarly, the rear arm 7 of the rear carriage 3b is rotated to the retracted position so as to pass between the rear wheels 1b, while the front arm 6 is rotated to the deployed position at the timing when the front wheel 1a is passed. By contacting the rear wheel 1b, the rear carriage 3b is positioned with respect to the rear wheel 1b. Then, after positioning each gripping carriage 3 with respect to the vehicle 1, the rear arm 7 of each gripping carriage 3 is rotated to the deployed position to lift up the vehicle 1.

  Then, while the wheels of the vehicle 1 (front wheel 1a, rear wheel 1b) are lifted up by the lifters 4 of the front and rear gripping carriages 3, the driving wheels 2 are driven to drive both gripping carriages 3 by themselves, and the vehicle 1 is palletized. Transport on P.

  At this time, if a position sensor 13 capable of detecting the position of the vehicle 1 in the support operation section is installed (see FIG. 1), each gripping carriage 3 is moved from the state shown in FIG. When the vehicle 1 is mounted on the vehicle, the drive control unit 14 of each gripping carriage 3 is operated in cooperation with the position sensor 13, and the two front and rear gripping carriages 3 are moved to positions where the vehicle 1 fits in the pallet P. You can also

The subsequent transportation procedure is the same as that of the first reference example, and will be omitted.

  In the above example, the case where the two gripping carriages 3 are made to enter from the front of the vehicle 1 has been described. However, even if the gripping carriages 3 are made to enter from the rear of the vehicle 1, the vehicle 1 can be similarly transported. Needless to say. That is, also in FIGS. 10 and 11, the orientation of the vehicle 1 may be reversed.

12 to 14 illustrate an example ( first embodiment) of the transportation method of the vehicle 1. In the first reference example, moving the vehicle 1 with respect to the gripping carriage 3, in the second reference example, but so that movement of the gripping carriage 3 relative to the vehicle 1, in this first embodiment, the first The vehicle 1 is transported by appropriately combining the transportation methods of the first and second reference examples.

As the position sensor 13, similarly to the second reference example, an optical sensor or an ultrasonic sensor for detecting approach of wheels (front wheel 1a, rear wheel 1b) is installed on both the front carriage 3a and the rear carriage 3b. Although assumed, the configuration and the number of the position sensors 13 can be appropriately changed here as well.

  First, as step S21 (see FIG. 12), as shown in FIG. 13A, the vehicle 1 is positioned behind the front truck 3a and the rear truck 3b arranged on the pallet P. That is, the vehicle 1, the rear carriage 3b, and the front carriage 3a are arranged in this order. At this time, the lifter 4 is in a state in which the front arm 6 is rotated to the deployed position and the rear arm 7 is rotated to the storage position in the front carriage 3a, and the rear arm 3 and the rear arm 7 are rotated in the rear carriage 3b. Each of the arms 7 is in a state of being rotated to the storage position. The front carriage 3a and the rear carriage 3b are arranged such that the distance between the lifter 4 of the front carriage 3a and the lifter 4 of the rear carriage 3b is equal to or smaller than the wheel base of the vehicle 1. Of the drive wheels 2 provided on the two gripping carriages 3, the drive wheel 2 on the front carriage 3a is locked.

  From this state, as step S22 (see FIG. 12), the vehicle 1 is advanced toward the two gripping carriages 3 located in the front. As shown in FIG. 13 (b), when the front wheels 1a of the vehicle 1 reach the sides of the lifter 4 provided on the rear carriage 3b, the position sensor 13 provided at this position indicates that the vehicle 1 has reached this position. Is detected.

  As shown in FIG. 13C, when the vehicle 1 further advances and the front wheels 1a pass the position of the lifter 4 provided on the rear carriage 3b, the position sensor 13 detects the passing.

  The fact that the position sensor 13 of the rear carriage 3b has detected the passage of the vehicle 1 is input to the drive control unit 14 of the rear carriage 3b as a position signal 13a (see FIG. 5). In response to the input of the position signal 13a, the drive control unit 14 drives the hydraulic cylinder 11 of the rear carriage 3b in step S23 (see FIG. 12) to move the front arm 6 to the expanded position as shown in FIG. 14 (d). Rotate to.

  As step S24 (see FIG. 12), the vehicle 1 is further advanced from the position shown in FIG. 14 (d). Here, the vehicle 1 is moved forward until the front wheel 1a reaches the side of the front carriage 3a and comes into contact with the front arm 6 in the deployed position on the side of the front carriage 3a. Here, as described above, the drive wheels 2 of the front truck 3a are locked, and the front arm 6 in the deployed position on the side of the front truck 3a functions as a wheel stopper, so that the vehicle 1 moves forward of the front wheels 1a. It will be blocked and you will not move forward from this position. The vehicle 1 is stopped at this position.

  The fact that the front wheel 1a has reached the side of the front carriage 3a is detected by a position sensor 13 provided on the side of the front carriage 3a, and is input to the drive control unit 14 of the rear carriage 3b as a position signal 13a (Fig. 5).

  If the rear wheel 1b is not located on the side of the rear carriage 3b at the time when the drive control unit 14 receives the position signal 13a, the position sensor 13 provided on the side of the rear carriage 3b detects this. Detect. The drive control unit 14 performs the operation of the next step S25 or step S26 according to the input of the position signal 13a (see FIG. 12). Alternatively, here, the driver getting off the vehicle 1 inputs the transportation permission signal 18a to the control device 18 for control (see FIG. 5), and the operation of the next step S25 or step S26 according to the input of the transportation permission signal 18a. May be performed.

In the first embodiment, step S23 and step S24 can be interchanged in order (see FIG. 5). That is, the vehicle 1 is moved forward until the front wheels 1a come into contact with the front arm 6 of the front carriage 3a and stopped (step S24), and then the hydraulic cylinder 11 of the rear carriage 3b is driven to move the front arm 6 to the deployed position. (Step S23) can be rotated (the transport procedure corresponding to this case will be described later in detail as a second embodiment).

  When the rear wheel 1b is not located on the side of the rear carriage 3b at the time when the position signal 13a or the conveyance permission signal 18a is input, as step S25 (see FIG. 12), the rear carriage 3b is driven. The wheels 2 are operated to move the rear carriage 3b backward. Then, as shown in FIG. 14 (e), when the front arm 6 of the rear truck 3b comes into contact with the rear wheel 1b, this is detected by the position sensor 13 of the rear truck 3b, and the rear truck 3b is stopped. Alternatively, the moving distance of the rear carriage 3b is detected by monitoring the rotation sensor 15 (see FIG. 5), and when the rear carriage 3b moves a predetermined distance, the front arm 6 of the rear carriage 3b causes the rear wheel 1b to move. You may make it judge that it contacted.

  The fact that the two gripping carriages 3 have reached this position with respect to the vehicle 1 is detected by the position sensors 13 provided on the sides of the gripping carriages 3 and is input to the drive control unit 14 as a position signal 13a. In response to the input of the position signal 13a, the both drive control units 14 drive the hydraulic cylinders 11 of the two gripping carriages 3a and 3b in step S26 to move the respective rear arms 7 as shown in FIG. 14 (f). Rotate to the deployed position. The lifters 4 of both gripping carts 3a and 3b lift up while supporting the front wheel 1a and the rear wheel 1b of the vehicle 1 so as to be sandwiched between the front arm 6 and the rear arm 7 from the front and rear.

  That is, when the vehicle 1 is advanced into the front and rear gripping carriages 3 before the vehicle 1 is lifted up, the rear arm 7 of the front carriage 3a is rotated to the retracted position to pass between the front wheels 1a, By rotating the front arm 6 to the deployed position and contacting the front wheel 1a, the front carriage 3a is positioned with respect to the front wheel 1a. Similarly, the rear arm 7 of the rear carriage 3b is pivoted to the retracted position so as to pass between the rear wheels 1b, while the front arm 6 is pivoted to the deployed position at the timing when the front wheel 1a passes, and then, By bringing the rear carriage 3b into contact with the rear wheels 1b as the rear carriage 3b moves backward, the rear carriage 3b is positioned with respect to the rear wheels 1b. Then, after positioning each gripping carriage 3 with respect to the vehicle 1, the rear arm 7 of each gripping carriage 3 is rotated to the deployed position to lift up the vehicle 1.

The subsequent transportation procedure is the same as that of the first and second reference examples, and will be omitted.

In the case of the first embodiment, after the vehicle 1 is stopped at the position of the front bogie 3a, the rear bogie 3b is moved backward to the position of the rear wheel 1b, so that the vehicle 1 having a large wheel base is used. This is effective when it is desired to store the pallet P in a fixed space.

  Further, a position sensor 13 capable of detecting the position of the vehicle 1 in the support operation section is installed (see FIG. 1), and the vehicle 1 is lifted up as shown in FIG. The control unit 14 may be operated in cooperation with the position sensor 13 to move the two front and rear gripping carts 3 so that the vehicle 1 fits inside the pallet P.

In the first embodiment as well, the direction of the vehicle 1 may be reversed.

15 to 17 illustrate another example ( second embodiment) of the transportation method of the vehicle 1. The second embodiment can be said to be a modified example in which steps S23 and S24 of the first embodiment are replaced, and the transportation of the vehicle 1 is executed by the transportation permission signal 18a input by the driver. According to the second embodiment, the position sensor 13 (see FIG. 1) is not always necessary, but it may be appropriately provided depending on the case.

  First, as step S31 (see FIG. 15), as shown in FIG. 16 (a), the vehicle 1 is positioned behind the front truck 3a and the rear truck 3b arranged on the pallet P. That is, the vehicle 1, the rear carriage 3b, and the front carriage 3a are arranged in this order. At this time, the lifter 4 is in a state in which the front arm 6 is rotated to the deployed position and the rear arm 7 is rotated to the storage position in the front carriage 3a, and the rear arm 3 and the rear arm 7 are rotated in the rear carriage 3b. Each of the arms 7 is in a state of being rotated to the storage position. The front carriage 3a and the rear carriage 3b are arranged such that the distance between the lifter 4 of the front carriage 3a and the lifter 4 of the rear carriage 3b is equal to or smaller than the wheel base of the vehicle 1. Of the drive wheels 2 provided on the two gripping carriages 3, the drive wheel 2 on the front carriage 3a is locked.

  From this state, as step S32 (see FIG. 15), the vehicle 1 is advanced toward the two gripping carriages 3 located in the front. As shown in FIG. 16B, the vehicle 1 is moved forward until the front wheels 1a reach the sides of the front carriage 3a and come into contact with the front arm 6 in the deployed position on the front carriage 3a side.

  Here, as described above, the drive wheels 2 of the front truck 3a are locked, and the front arm 6 in the deployed position on the side of the front truck 3a functions as a wheel stopper, so that the vehicle 1 moves forward of the front wheels 1a. It will be blocked and you will not move forward from this position. As step S33 (see FIG. 15), the vehicle 1 is stopped at this position.

  Next, as step S34 (see FIG. 15), the driver getting off the vehicle 1 inputs the transportation permission signal 18a to the control device 18 for control. The control device for control 18 drives the hydraulic cylinder 11 via the drive control unit 14 of the rear carriage 3b in response to the input of the transport permission signal 18a, and as shown in FIG. Rotate to.

Further, as step S35, the drive wheels 2 of the rear truck 3b are operated to move the rear truck 3b backward. Then, as shown in FIG. 17D, the rear truck 3b is stopped when the lifter 4 of the rear truck 3b reaches the position of the rear wheel 1b. Here, it is necessary to stop the rear carriage 3b at an appropriate timing. In the case of the second embodiment, the driver visually contacts the front arm 6 of the rear carriage 3b with the rear wheel 1b. It is possible to confirm and operate the control device 18 for control to stop the rear carriage 3b. In this case, it is not necessary to equip the transport device with the position sensor 13.

  That is, the step S34 of rotating the front arm 6 of the rear carriage 3b to the deployed position and the step S35 of bringing the front arm 6 of the rear carriage 3b into contact with the rear wheel 1b include the front wheel 1a and the front arm of the front carriage 3a. Since the steps are performed after steps S32 and S33 of bringing the vehicle 1 into contact with the vehicle 6 to stop the vehicle 1, steps S34 and S35 can be executed by the operation of the driver who gets off the vehicle regardless of the position sensor.

Of course, also in the second embodiment, it is possible to execute steps S34 and S35 by the position sensor. For example, the rear carriage 3b is provided with a position sensor 13 as a hydraulic sensor of the hydraulic cylinder 11 of the front arm 6, and the front arm 6 of the rear carriage 3b is deployed by the driver operating the control device 18 for control. After that, the contact between the rear wheel 1b and the front arm 6 can be detected as a change in the hydraulic pressure in the hydraulic cylinder 11, and thereby the rear carriage 3b can be stopped. Alternatively, the movement distance of the rear carriage 3b is detected by monitoring the rotation sensor 15 (see FIG. 5), and when the rear carriage 3b moves a predetermined distance, the front arm 6 is rotated to the deployed position, and It is also possible to determine that the front arm 6 of the rear carriage 3b has come into contact with the rear wheel 1b when the vehicle has moved a predetermined distance.

  After the rear carriage 3b is stopped, in step S36, the hydraulic cylinders 11 of the gripping carriages 3a and 3b are driven to rotate the respective rear arms 7 to the deployed position as shown in FIG. 17 (e). . The lifters 4 of both gripping carts 3a and 3b lift up while supporting the front wheel 1a and the rear wheel 1b of the vehicle 1 so as to be sandwiched between the front arm 6 and the rear arm 7 from the front and rear.

The subsequent transportation procedure is the same as in the first embodiment described above, and will be omitted.

In the case of the second embodiment, after the vehicle 1 is stopped at the position of the front bogie 3a, the rear bogie 3b is moved backward to the position of the rear wheel 1b. This is effective when it is desired to store the pallet P in a fixed space. Alternatively, the position sensor 13 (see FIG. 5) may be omitted by operating the rear carriage 3b with the eyes of the driver.

  In addition, a position sensor 13 that can detect the position of the vehicle 1 in the support operation section is installed (see FIG. 1), and the vehicle 1 is lifted up as shown in FIG. The control unit 14 may be operated in cooperation with the position sensor 13 to move the two front and rear gripping carts 3 so that the vehicle 1 fits inside the pallet P.

In the second embodiment as well, the direction of the vehicle 1 may be reversed.

As described above, in the first and second embodiments, unlike the vehicle transporting device disclosed in Patent Document 2, the vehicle transporting device includes two front and rear gripping carriages 3 that operate independently of each other. However, since the front wheel 1a and the rear wheel 1b of the vehicle 1 are lifted up by the front and rear gripping trolleys 3, it is possible to handle the transportation of the vehicle 1 having a different wheel base, and the vehicle 1 with a large overhang can be used. It is also easy to handle for transportation.

Further, in the first and second embodiments, unlike the vehicle conveying device disclosed in Patent Document 3, the front and rear gripping carriages 3 that operate independently of each other are used, and the lifter 4 is provided. Since the constituent front and rear gripping arms (the front arm 6 and the rear arm 7) are operated independently of each other, one of the gripping arms is rotated to the retracted position to rotate the wheels of the vehicle 1 (front wheel 1a, rear wheel 1b). It is possible to rotate the other of the gripping arms to the deployed position while allowing the vehicle to pass through the gap between the gripping arm and the wheels of the vehicle 1 (front wheel 1a, rear wheel 1b) to perform positioning. The positioning between and is easy.

Furthermore, in the first embodiment, when the vehicle 1 is transported, the front arm 6 provided on the front and rear gripping trolleys 3 can be used as a mark for the stop position, and is also used as a wheel stop. The driver can easily operate the vehicle 1.

  In this way, it is possible to cope with a wide range of vehicle transports without being restricted by the wheel base and overhang of the vehicle 1, and it is possible to easily perform alignment with the vehicle when transporting the vehicle.

It should be noted that the vehicle transportation method of the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the scope of the present invention.

1 vehicle 1a wheel (front wheel)
1b Wheel (rear wheel)
3 gripping carriage 3a gripping carriage (front side carriage)
3b Gripping carriage (rear carriage)
4 Lifter 6 Grip arm (front arm)
7 Grip arm (rear arm)

Claims (2)

A front bogie configured to be self-propelled by providing a lifter for lifting up front wheels or rear wheels of the vehicle on a side surface,
Two gripping trolleys of a rear trolley configured to be self-propelled by providing a lifter for lifting up front wheels or rear wheels of the vehicle on a side surface are configured to be capable of traveling independently of each other,
The lifter includes a gripping arm rotatably mounted between a storage position along a side surface of the gripping carriage and a deployed position that projects laterally from the storage position,
The gripping arm includes a front arm and a rear arm,
The front arm and the rear arm are configured to lift up while supporting the front wheel or the rear wheel of the vehicle from the front and rear in the deployed position,
Prior to the lift-up of the vehicle,
When the front arm of the front carriage is rotated to the deployed position, the rear arm is rotated to the storage position, and the front arm and the rear arm of the rear carriage are rotated to the storage position, , The rear carriage and the front carriage are arranged in this order,
Advancing the vehicle toward the two gripping carriages,
After one of the front wheel or the rear wheel has passed the side of the rear truck, the front arm of the rear truck is rotated to the deployed position, and the front arm of the rear truck is moved to the other of the front wheel or the rear wheel. Abutting against and positioning
When one of the front wheels or the rear wheels is in contact with the front arm of the front carriage, the vehicle is stopped,
A method of transporting a vehicle for lifting up the vehicle. The step of rotating the front arm of the rear carriage to the deployed position and bringing the front arm of the rear carriage into contact with the other of the front wheel or the rear wheel includes one of the front wheel and the rear wheel on the front side of the front carriage. The method for transporting a vehicle according to claim 1 , wherein the method is performed after the step of stopping the vehicle at the stage of contact with the arm.

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