JP6936599B2 - Horizontal transport trolley - Google Patents

Description

The present invention relates to a horizontal transport trolley that horizontally transports an object to be transported such as materials and equipment at a construction site or the like.

Traditionally, the construction industry has been required to automate work in order to make up for the labor shortage, and among them, the transportation of materials, which requires a lot of man-made work, is the first. There are many cases where self-propelled trolleys are used to automate material transportation, and there is a tendency for self-propelled trolleys that are particularly suitable for on-site conditions to be adopted. As such a self-propelled trolley, for example, a trolley as shown in Patent Document 1 is known. This trolley is a scissor lift type self-propelled trolley that does not have a counterweight, and the weight of the trolley and the load is kept within the floor load capacity of the construction site.

Japanese Unexamined Patent Publication No. 06-32227

As described above, in the trolley of Patent Document 1 described above, in order to reduce the weight of the trolley and the load within the floor load capacity, the scissors lift method is adopted instead of the counterweight method, but in this trolley, the forklift is used. Since the horizontal transport operation is performed with the object to be transported such as materials deposited in the fork portion of the dolly, there is a problem that the center of gravity is high and unstable, and the objects to be transported are limited.

For this reason, there has been a demand for a lightweight trolley that has a low center of gravity and can stably transport an object to be transported horizontally.

The present invention has been made in view of the above, and an object of the present invention is to provide a lightweight horizontal transport carriage having a low center of gravity and capable of stably horizontally transporting an object to be transported.

In order to solve the above-mentioned problems and achieve the object, the horizontal transport carriage according to the present invention is a horizontal transport carriage for horizontally transporting the transported object, and has a pedestal portion for depositing the transported object and a pedestal portion for depositing the transported object. A self-propelled master trolley having a drive wheel and a steering wheel, a pedestal portion for depositing an object to be transported, and a child trolley having an elevating mechanism for raising and lowering the pedestal portion. A child trolley that is freely connected to the main trolley and can move forward from the main trolley to engage with the engaging recess on the lower side of the object to be transported, and a child trolley that is provided on the main trolley and has been immersive and moved to the ground. It is characterized by being provided with a switching mechanism for switching between a non-grounded state and a non-grounded state.

Further, another horizontal transport carriage according to the present invention is characterized in that, in the above-described invention, the main body and the pedestal portion of the slave carriage have a shape that can be engaged with the engaging recess on the lower side of the object to be transported. ..

Further, in the other horizontal transport carriage according to the present invention, in the above-described invention, the lifting mechanism of the slave carriage is characterized in that the pedestal portion is raised and lowered by the expansion and contraction operation of the pantograph mechanism.

Further, another horizontal transport carriage according to the present invention is characterized in that, in the above-described invention, the switching mechanism has a hook for pulling up the slave carriage to bring it into a non-grounded state and lowering the slave carriage to bring it into a grounded state.

According to the horizontal transport trolley according to the present invention, it is a horizontal transport trolley for horizontally transporting the transported object, and is self-propelled having a pedestal portion for depositing the transported object, and a drive wheel and a steering wheel. A child trolley that has a master trolley, a pedestal for depositing objects to be transported, and an elevating mechanism that raises and lowers the pedestal. It is equipped with a child trolley that can move forward from the trolley and engage with the engaging recess on the lower side of the object to be transported, and a switching mechanism that is provided on the master trolley and switches the immersive moved child trolley between a grounded state and a non-grounded state. Therefore, at the time of unloading, the child trolley is moved forward from the master trolley, engaged with the engaging recess on the lower side of the object to be transported, then the pedestal is raised to unload, and then the child trolley is moved to the master trolley. After immersing in the pedestal, the pedestal can be lowered to transship the object to be transported onto the pedestal of the master trolley, and then the slave trolley can be switched to the non-grounded state by the switching mechanism and then horizontally transported by the master trolley. On the other hand, at the time of unloading, the object to be transported can be unloaded in the reverse procedure of the unloading. Since the child trolley has a structure that can be engaged with the engaging recess on the lower side of the object to be transported, it can be configured to be lightweight with a low center of gravity, and the master trolley can also be configured to be lightweight with a low center of gravity. Therefore, according to the present invention, it is possible to provide a lightweight horizontal transport carriage having a low center of gravity and capable of horizontally transporting an object to be transported.

Further, according to another horizontal transport trolley according to the present invention, the main body and the pedestal portion of the slave trolley have a shape that can be engaged with the engaging recess on the lower side of the object to be transported, so that the main body and the pedestal of the slave trolley At the same time that the portion can be engaged with the engaging recess on the lower side of the object to be transported, the effect is that the object to be transported can be deposited in the pedestal portion.

Further, according to another horizontal transport trolley according to the present invention, the elevating mechanism of the slave trolley raises and lowers the pedestal portion by the expansion and contraction operation of the pantograph mechanism, so that the slave trolley can be constructed lightweight.

Further, according to another horizontal transport trolley according to the present invention, the switching mechanism has a hook for pulling up the slave trolley to bring it into a non-grounded state and lowering the slave trolley to bring it into a grounded state. It has the effect of being able to easily switch between a grounded state and a non-grounded state.

FIG. 1 is a schematic top view showing an embodiment of a horizontal transport carriage according to the present invention. FIG. 2 is a schematic perspective view of a slave carriage showing an embodiment of the horizontal transport carriage according to the present invention. FIG. 3 is a schematic side view of a slave carriage showing an embodiment of the horizontal transport carriage according to the present invention. FIG. 4 is a schematic partial front sectional view showing an embodiment of the horizontal transport carriage according to the present invention.

Hereinafter, embodiments of the horizontal transport carriage according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

As shown in FIGS. 1 and 2, the horizontal transport trolley 10 according to the present invention is a trolley for horizontally transporting a material (object to be transported) such as a plate-shaped member at a construction site, and is a master trolley 12. And a child carriage 14.

The master trolley 12 is a trolley capable of autonomous traveling having a master trolley main body 16, a U-shaped pedestal portion 18 in a plan view, and a drive steering wheel 20 (driving wheel) and a steering wheel 22. The child carriage 14 connected via the guide arm 26 is housed in the recess 24 surrounded by the U-shape of the pedestal portion 18 so as to be able to appear and disappear.

The pedestal portion 18 is a flat portion for depositing an object, and can load a material or a material pallet. The drive steering wheels 20 and the steering wheels 22 are provided at the four corners of the lower surface of the main bogie body 16 and are driven by a motor unit 28 mounted on the rear portion of the main bogie main body 16. The drive steering wheels 20 are located on the rear left and right sides of the lower surface of the main bogie body 16, and the steering wheels 22 are located on the front left and right sides of the lower surface of the main bogie body 16. The drive steering wheel 20 and the steering wheel 22 are for freely moving the horizontal transport trolley 10 while supporting the load of the load loaded on the horizontal transport trolley 10 and the horizontal transport trolley 10. In order to realize the free movement of the horizontal transport carriage 10, the drive steering wheel 20 and the steering wheel 22 are steered independently of each other.

Hooks 30 are provided on the left and right sides of the recess 24 of the pedestal portion 18 as a switching mechanism capable of switching the stored child carriage 14 between the grounded state and the non-grounded state. The hook 30 has a long shape extending in the front-rear direction. As shown in FIG. 4, the hook 30 has an L-shaped cross-sectional shape, and is composed of a vertical portion 30A and a horizontal portion 30B. The vertical portion 30A is fixed so as to be vertically movable with respect to the main carriage body 16. The horizontal portion 30B is inserted and arranged below the edge portion 46 of the child carriage 14, which will be described later. In this configuration, for example, when the hook 30 is pulled up using the motor unit 28 as a power source, the horizontal portion 30A abuts on the lower surface of the edge portion 46 and pulls up the edge portion 46 to bring the slave carriage 14 into a non-grounded state and pulls down the hook 30. Then, the horizontal portion 30A separates from the lower surface of the edge portion 46 to bring the child carriage 14 into the grounded state.

In the present embodiment, it is assumed that the pedestal portion 18 has a length of about 1.5 m in the front-rear direction and a length of about 2 m in the left-right direction. Further, it is assumed that the recess 24 has a length of 1.1 m in the front-rear direction and a length of about 1 m in the left-right direction.

As shown in FIGS. 2 and 3, the child trolley 14 is freely connected to the master trolley 12 in the front-rear direction (horizontal one direction), and moves forward from the master trolley 12 at the time of unloading to load materials. It is a dolly that can be engaged with the engaging recess of the material pallet.

The child trolley 14 is provided on the child trolley main body 32 and the child trolley main body 32, and has a pedestal portion 34 for depositing materials and the like, and an elevating mechanism for raising and lowering the pedestal portion 34 by the expansion and contraction operation of the pantograph mechanism. It has 36, a drive wheel 38, and wheels 40. The child carriage main body 32 and the pedestal portion 34 have a substantially U-shaped shape that opens toward the front in a plan view. A general material pallet has engaging recesses such as engaging holes and engaging grooves that are divided into left and right sides of the legs when viewed from the side. By adopting such a shape, the left and right portions of the child carriage main body 32 and the pedestal portion 34 can be engaged with the engaging recesses by sandwiching the legs of the material pallet (not shown) from the left and right.

The pedestal portion 34 and the elevating mechanism 36 can be configured by, for example, a table lifter. The drive wheels 38 are provided on the rear side of the four corners on the lower surface side of the child carriage main body 32, and the wheels 40 are provided on the front side. The drive wheels 38 and the elevating mechanism 36 are driven by a motor unit 42 mounted on the rear portion of the child carriage main body 32. The rear portion of the child carriage main body 32 and the parent carriage main body 16 are connected via a guide arm 26. The guide arm 26 has an inverted V shape in a lateral view having a joint 44 at the upper part. The child carriage 14 can move relative to the master carriage 12 in the front-rear direction, and when it moves rearward and immerses itself in the recess 24, it is stored in the master carriage 12. Further, when the vehicle moves forward and advances from the recess 24, the cargo can be picked up.

The left and right side portions of the child carriage main body 32 are provided with edge portions 46 protruding in the left and right outward directions. As shown in FIG. 4, the edge portion 46 can be easily pulled up and down by the hook 30 of the main carriage 12. When the edge 46 is pulled up, the drive wheels 38 and the wheels 40 of the child carriage 14 float from the floor surface to be in a non-grounded state, and when pulled down, the child carriage 14 lands on the floor surface and is in a grounded state. Therefore, the slave carriage 14 can be easily switched between the grounded state and the non-grounded state by operating the hook 30. In this embodiment, it is assumed that the child carriage main body 32 has a length of 1.1 m in the front-rear direction and a length of about 0.8 m in the left-right direction. Further, it is assumed that the moving speed of the child carriage 14 in the front-rear direction is about 10 m / min.

A twin-lens camera sensor (not shown) is attached to the front side of the master carriage 12 and the slave carriage 14. This twin-lens camera sensor is a camera sensor that calculates the relative distance and angle with respect to a marker (not shown) attached to an object to be transported such as a material pallet or a material. By reading the marker with this twin-lens camera sensor, it is possible to detect the positional relationship (relative position) between the object to be transported and the master trolley 12 or the slave trolley 14, and using this detection result, the master trolley 12 or the slave trolley 14 can be detected. It is possible to face the object to be transported.

Further, the horizontal transport trolley 10 recognizes the self-position (master trolley 12 and child trolley 14) by a laser sensor that estimates the self-position, a twin-lens camera sensor that recognizes the positional relationship between the self-position and the object to be transported, and the estimated self-position. Based on the positional relationship, the drive steering wheel 20 and the steering wheel 22 are provided with a control means (not shown) for controlling the movement of the master carriage 12, the movement of the slave carriage 14, and the operation of the elevating mechanism 36 and the hook 30. .. This control means can be remotely controlled from the outside via a wireless or wired communication means.

The laser sensor is a sensor that can acquire the state such as the shape of the surroundings as two-dimensional information by irradiating the surroundings with laser light. By superimposing the two-dimensional information acquired by this sensor on the known drawing information of the construction site where the horizontal transport carriage 10 is used, the current position of the horizontal transport carriage 10 can be determined.

Therefore, the horizontal transport carriage 10 can autonomously travel while estimating its own position by superimposing the known drawing data of the construction site and the two-dimensional survey information by the laser sensor. In addition, the control means moves the master trolley 12 while estimating its own position, faces the material to be transported, engages the child trolley 14 with the lower engaging recess of the material, and picks up / unloads. It can be unloaded.

The operation and operation of the above configuration will be described.
First, in the case of unloading, the master trolley 12 is autonomously driven together with the child trolley 14, and the master trolley 12 is made to face the material pallet on which the material to be loaded is loaded. Subsequently, the hook 30 is lowered to bring the child carriage 14 into the grounded state.

Next, the drive wheel 38 of the child carriage 14 is driven to move the child carriage 14 forward from the recess 24 of the master carriage 12, and the slave carriage main body 32 and the pedestal portion 34 are engaged with the engaging recess of the material pallet. Match. After that, the elevating mechanism 36 is driven to raise the pedestal portion 34, and the material is picked up together with the material pallet.

Next, after the child carriage 14 is immersed in the recess 24 of the master carriage 12, the pedestal portion 34 is lowered, and the materials and the material pallets are transshipped to the pedestal portion 18 of the master carriage 12. In this way, the material loaded on the material pallet can be picked up. After that, the child carriage 14 is pulled up by the hook 30 of the switching mechanism to bring it into a non-grounded state, and the master carriage 12 is autonomously traveled to a predetermined transport destination to horizontally transport the material.

On the other hand, in the case of unloading, the operation of the master carriage 12 and the slave carriage 14 may be controlled in the reverse procedure of the above-mentioned unloading case. In this way, the material can be unloaded at a predetermined transport destination.

According to the above configuration, it is possible to lower the center of gravity and reduce the weight of the child carriage 14 and the master carriage 12 for transporting materials. Therefore, according to the present embodiment, it is possible to provide a lightweight horizontal transport carriage 10 having a low center of gravity and capable of stably horizontally transporting an object to be transported.

In the above embodiment, the case where the child carriage 14 is moved in the front-rear direction by the drive wheels 38 has been described, but the present invention is not limited to this. For example, instead of doing this, the guide arm 26 is configured to be able to expand and contract in the front-rear direction with an electric cylinder or the like, and the slave trolley 14 moves in the front-rear direction by the operation of the electric cylinder or the like so that it can freely appear and disappear from the master trolley 12. It may be. Even in this way, the same effects as described above can be obtained.

Further, in the above embodiment, the case where the switching mechanism capable of switching the slave carriage 14 between the grounded state and the non-grounded state is configured by the hook 30 has been described as an example, but the present invention is not limited to this. A mechanism other than the hook 30 may be used as long as the child carriage 14 can be switched between the grounded state and the non-grounded state. Even in this way, the same effects as described above can be obtained.

As described above, according to the horizontal transport carriage according to the present invention, the horizontal transport carriage for horizontally transporting the transported object includes a pedestal portion for depositing the transported object, and a drive wheel and a steering wheel. It is a child trolley that has a self-propelled master trolley, a pedestal for depositing objects to be transported, and an elevating mechanism that raises and lowers this pedestal, and is freely connected to the master trolley in one horizontal direction. , The child trolley that can move forward from the master trolley and engage with the engaging recess on the lower side of the object to be transported at the time of unloading, and the slave trolley that is provided on the master trolley and has been immersive and moved are put into a grounded state and a non-grounded state. Since it is equipped with a switching mechanism to switch, when unloading, the child trolley moves forward from the master trolley, engages with the engaging recess on the lower side of the object to be transported, then raises the pedestal to unload. After immersing the child trolley in the master trolley, lower the pedestal part to transship the object to be transported to the pedestal part of the master trolley, and then switch the child trolley to the non-grounded state by the switching mechanism and then horizontally transport the slave trolley. can do. On the other hand, at the time of unloading, the object to be transported can be unloaded in the reverse procedure of the unloading. Since the child trolley has a structure that can be engaged with the engaging recess on the lower side of the object to be transported, it can be configured to be lightweight with a low center of gravity, and the master trolley can also be configured to be lightweight with a low center of gravity. Therefore, according to the present invention, it is possible to provide a lightweight horizontal transport carriage having a low center of gravity and capable of stably horizontally transporting an object to be transported.

Further, according to another horizontal transport trolley according to the present invention, the main body and the pedestal portion of the slave trolley have a shape that can be engaged with the engaging recess on the lower side of the object to be transported, so that the main body and the pedestal of the slave trolley The portion can be engaged with the engaging recess on the lower side of the object to be transported, and at the same time, the object to be transported can be deposited in the pedestal portion.

Further, according to another horizontal transport trolley according to the present invention, the elevating mechanism of the slave trolley raises and lowers the pedestal portion by the expansion and contraction operation of the pantograph mechanism, so that the slave trolley can be constructed lightweight.

Further, according to another horizontal transport trolley according to the present invention, the switching mechanism has a hook for pulling up the slave trolley to bring it into a non-grounded state and lowering the slave trolley to bring it into a grounded state. It can be easily switched between the grounded state and the non-grounded state.

As described above, the horizontal transport trolley according to the present invention is useful for horizontally transporting objects to be transported such as materials and equipment at a construction site or the like, and in particular, has a low center of gravity and stably transports the objects to be transported horizontally. It is suitable for providing a lightweight horizontal transport trolley that can be used.

10 Horizontal transport trolley 12 Master trolley 14 Child trolley 16 Master trolley body 18,34 Pedestal part 20 Drive steering wheel (drive wheel)
22 Steering wheel 24 Recess 26 Guide arm 28,42 Motor unit 30 Hook (switching mechanism)
32 Child trolley body 36 Lifting mechanism 38 Drive wheel 40 Wheel 44 Joint 46 Edge

Claims (4)

A horizontal transport trolley for horizontally transporting the object to be transported.
A self-propelled master trolley having a pedestal for depositing an object to be transported, a drive wheel and a steering wheel,
It is a child trolley that has a pedestal part for depositing the object to be transported and an elevating mechanism that raises and lowers this pedestal part. A child trolley that can be engaged with the engaging recess on the lower side of the object to be transported,
It is equipped with a switching mechanism that is installed on the main trolley and switches the immersive child trolley between the grounded state and the non-grounded state.
The rear part of the main body of the child dolly and the main body of the main dolly are connected via an inverted V-shaped guide arm with a joint at the upper part, and the child dolly is horizontal to the main dolly through this guide arm. horizontal transport carriage, characterized in Rukoto is retractable connected in one direction. The horizontal transport carriage according to claim 1, wherein the main body and the pedestal portion of the slave carriage have a shape capable of engaging with the engaging recess on the lower side of the object to be transported. The horizontal transport carriage according to claim 1 or 2, wherein the lifting mechanism of the slave carriage raises and lowers the pedestal portion by the expansion and contraction operation of the pantograph mechanism. The horizontal transport trolley according to any one of claims 1 to 3, wherein the switching mechanism has a hook for pulling up the slave trolley to bring it into a non-grounded state and lowering the slave trolley to bring it into a grounded state.

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