JP7090493B2 - Load transportation method and load transportation system - Google Patents

Description

The present invention relates to a load carrying method and a load carrying system.

It is required to carry loads in narrow and complicated passages inside the building. As a device for transporting an loaded object, Patent Document 1 describes an example of an electric caster capable of switching between forward / backward movement and turning movement by rotating two drive wheels in the same direction or in opposite directions.

Japanese Unexamined Patent Publication No. 2001-158205

Here, when the mounted object is transported by using the electric caster as in Patent Document 1, it is general that the electric caster is arranged only in the front of the mounted object and the driven wheel is arranged in the rear. However, with such a transportation method, it is difficult to reduce the turning radius.

The present invention has been made in view of the above, and an object of the present invention is to provide a load-carrying method and a load-carrying system capable of efficiently and suitably transporting a load in a narrow and complicated passage. do.

In the load carrying method of the present invention, two drive trolleys and at least one driven trolley are arranged between the floor surface and the mounted surface of the mounted object, and the mounted object is placed on the mounted surface. A bogie placement step is provided so as to support in the support area. In the bogie placement step, two drive bogies are respectively arranged in the two support areas and at least one in the remaining one support area. A driven trolley is arranged, the two driven trolleys are arranged on the front side and the rear side of the loading direction in the transport direction, and the driven trolley is arranged between the two driven trolleys in the transport direction. It is characterized in that it is arranged close to one side in the width direction orthogonal to the transport direction in the plane of the mounted surface.

Further, the load carrying system of the present invention is arranged so as to be arranged between the floor surface and the mounted surface of the mounted surface and to support the mounted object in three support areas on the mounted surface. Two drive carriages and at least one driven carriage are provided, two driving carriages are arranged in each of the two support areas, and at least one driven carriage is arranged in the remaining one support area. The drive trolleys are arranged on the front side and the rear side in the transport direction of the load, and the driven trolleys are arranged between the two drive trolleys in the transport direction and the surface of the mounted surface. It is characterized in that it is arranged closer to one side in the width direction orthogonal to the transport direction.

According to these configurations, since the two drive carriages are arranged on the front side and the rear side in the transport direction, the turning radius can be reduced, and the load can be efficiently and suitably transported even in a narrow and complicated passage. can do. Further, since the load, the drive carriage, and the driven carriage are separate from each other, it can be applied to loads of various sizes. Further, since the driven trolley is arranged close to one side in the width direction, it is easy to visually recognize the driven trolley from the side by an image pickup device or the like. As a result, even after the mounted object has turned, it is possible to easily grasp in which direction the mounted object is facing by the image pickup device or the like depending on the position of the driven carriage.

Further, it is preferable that the two drive carriages are arranged closer to the other side in the width direction.

According to this configuration, since the drive carriage is arranged closer to the other side in the width direction, it is easy to visually recognize the drive carriage from the side. As a result, even after the mounted object has turned, it is possible to easily grasp in which direction the mounted object is facing by the image pickup device or the like depending on the position of the drive carriage.

Further, it is preferable that at least one of the drive carriage and the driven carriage is arranged so as to be housed in the mounted surface.

According to this configuration, since the drive carriage and the driven carriage do not protrude from the side of the load, the load can be transported more efficiently and more preferably even in a narrow passage.

Further, it is preferable that the drive carriage has a maximum load capacity on the order of t (tons) and a height of 300 mm or less.

According to this configuration, it is possible to carry loads in a building with a low ceiling.

Further, in the trolley arrangement step, an intervening member is arranged between the mounted surface of the mounted object, the mounting surface of the drive trolley, and at least one of the mounting surfaces of the driven trolley, and the intervening member is mounted. It is preferable to have a position regulating unit that regulates the deviation of the drive carriage and the driven carriage from an object.

According to this configuration, it is possible to prevent the loaded object being transported from slipping off or falling off from the drive carriage.

Further, it is preferable that the driven carriage includes a support member on which the mounted object is placed and a plurality of driven wheels provided on the support member.

According to this configuration, the load of the load applied to the driven carriage can be distributed to a plurality of driven wheels. As a result, the load on each of the driven wheels of the driven bogie can be reduced. Further, by providing the driven wheel on the support member, a part of the driven wheel floats from the floor surface at a step portion or the like, and a part of the driven wheel shifts or falls off from the mounted surface of the mounted object. Can be prevented.

Further, for the two drive carriages and one driven carriage arranged in the carriage placement step, a load step for mounting the load and two drive carriages are driven to load the load. A transport step for transporting to a destination, a unloading step for unloading the load from the two drive trolleys and one driven trolley at the predetermined destination, and two drive trolleys and one from the predetermined destination. It is preferable to include a trolley recovery step for recovering the driven trolley.

According to this configuration, the loaded object can be efficiently and suitably transported even in a narrow and complicated passage, so that the work time required for the transportation can be shortened. Further, since the two drive trolleys and the one driven trolley are separate from each other, the drive trolley and the driven trolley after unloading can be easily collected.

Further, in the transport step, it is preferable that the drive trolley is remotely controlled by a control device that is communicably connected to the drive trolley.

According to this configuration, it is not necessary for the operator to always run alongside the load in a narrow and complicated passage, so that the load can be transported efficiently and suitably. In addition, since the operator can operate it from a place away from the load, it is possible to carry it into the building where it is difficult for people to enter for a long time.

Further, an image pickup device for imaging the load is provided in the building for transporting the load, and in the transport step, the image pickup device for imaging the load provides an image captured by the load. Is preferable.

According to this configuration, the posture and position of the loaded object being transported can be appropriately confirmed from a place away from the loaded object, so that the operator does not have to constantly run alongside the loaded object in a narrow and complicated aisle, which is efficient and efficient. The load can be suitably carried. In addition, it can be transported to the inside of a building where it is difficult for people to enter for a long time.

Further, it is preferable that the drive trolley and the driven trolley are connected by a connecting member, and the driven trolley is recovered via the connecting member by driving the drive trolley in the trolley recovery step.

According to this configuration, the driven trolley can be collected together with the drive trolley that has finished transporting the load, so that the drive trolley and the driven trolley can be efficiently and suitably collected.

FIG. 1 is a schematic side view of a transportation system according to the first embodiment. FIG. 2 is a schematic bottom view of the transportation system according to the first embodiment. FIG. 3 is a schematic plan view showing an example of the operation of a load carried in the building. FIG. 4 is a block diagram of the transportation system according to the first embodiment. FIG. 5 is a flowchart showing an example of a method of transporting an loaded object by a transport system. FIG. 6 is a flowchart showing an example of a method of monitoring an loaded object by a transportation system. FIG. 7 is a schematic side view of the transportation system according to the second embodiment. FIG. 8 is a schematic bottom view of the transportation system according to the third embodiment. FIG. 9 is a schematic bottom view of the transportation system according to the fourth embodiment. FIG. 10 is a schematic bottom view of the transportation system according to the fifth embodiment.

Hereinafter, embodiments of the loading method according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment. In addition, the components in the following embodiments include those that can be easily replaced by those skilled in the art, or those that are substantially the same. Furthermore, the components described below can be combined as appropriate. In the following description of the embodiment, the same configuration is designated by the same reference numeral, and different configurations are designated by different reference numerals.

[First Embodiment]
FIG. 1 is a schematic side view of a transportation system according to the first embodiment. FIG. 2 is a schematic bottom view of the transportation system according to the first embodiment. FIG. 3 is a schematic plan view showing an example of the operation of a load carried in the building. FIG. 4 is a block diagram of the transportation system according to the first embodiment. As shown in FIGS. 1 and 2, the transport system 10 includes two drive carriages 30 and one driven carriage 40 on which the load 20 to be transported is placed. Further, as shown in FIGS. 3 and 4, the transportation system 10 includes an obstacle detection device 50, a plurality of (one in the drawing) image pickup device 60, and a control device 70. In the transport system 10 according to the first embodiment, it is assumed that the load 20 is transported in the first building B1, but in the transport system 10, two drive carts 30 and a driven carriage 40 can travel. It may be used in any building as long as it is a place, or it may be outdoors.

As shown in FIGS. 1 and 2, the load 20 is, for example, a survey device, equipment, or the like. The bottom surface of the mounted object 20 below the vertical direction H is a mounted surface 20D installed on two drive carts 30 and one driven carriage 40. The mounted surface 20D may be the bottom surface of all the mounted objects 20, or may be the bottom surface of a part of the mounted object 20, and is not particularly limited. The load 20 is mounted on two drive trolleys 30 and one driven trolley 40, and is supported by two drive trolleys 30 and one driven trolley 40. In the first embodiment, the load 20 has a rectangular parallelepiped shape, but the shape of the load 20 is not limited to this, and the mounted surface of the load 20 in contact with the two drive carriages 30 and one driven carriage 40. Any shape may be used as long as the 20D is integrated.

The mounted surface 20D of the mounted object 20 has three support areas S1 and S2. Of the three support areas S1 and S2, two drive carriages 30 are arranged in each of the two support areas S1. Of the three support areas S1 and S2, one driven carriage 40 is arranged in the remaining one support area S2.

The two drive carriages 30 and the driven carriage 40 are arranged between the floor surface F and the mounted surface 20D of the load 20, respectively. Of the two drive carriages 30, one drive carriage 30 is arranged on the front side of the load 20 in the transport direction T. Of the two drive carriages 30, the other drive carriage 30 is arranged on the rear side of the load 20 in the transport direction T. The driven carriage 40 is arranged between the two drive carriages 30 in the transport direction T of the load 20.

The driven carriage 40 is arranged closer to one side in the width direction W orthogonal to the transport direction T in the plane of the mounted surface 20D of the mounted object 20. That is, the center of gravity P2 of the driven carriage 40 is arranged on one side of the width direction W by a predetermined amount with respect to the center line L of the mounted object 20. The two drive carriages 30 are arranged close to each other in the width direction W orthogonal to the transport direction T in the plane of the mounted surface 20D of the mounted object 20. That is, the center of gravity P1 of the drive carriage 30 is arranged on the other side of the width direction W by a predetermined amount with respect to the center line L of the load 20.

In the first embodiment, the drive carriage 30 has a maximum load capacity on the order of t (tons) and a height of 300 mm or less. The drive carriage 30 includes a drive carriage frame 32, a drive mechanism 34, two drive wheels 36, and four driven wheels 38.

The drive carriage frame 32 includes a mounting platform 32A, a swivel shaft 32B, and a main body frame 32C. The mounting table 32A is formed with a mounting surface 32U on which the mounting object 20 is mounted on the upper surface. The swivel shaft 32B is a vertical axis H for swiveling the mounting table 32A. The main body frame 32C is connected to the mounting table 32A via the swivel shaft 32B so as to be relatively rotatable. In the first embodiment, the drive carriage frame 32 is a frame having a rectangular flat surface and a flat box shape, but any material and structure can be used as long as it is a robust material and structure on which the load 20 is placed and can withstand the load. But it may be.

The drive mechanism 34 includes a drive source 34a and two shafts 34b. The drive source 34a is provided on the main body frame 32C. The drive source 34a is, for example, an electric motor including a battery. The two shafts 34b are rotatably provided with respect to the main body frame 32C, respectively. The two shafts 34b are rotated by the driving force of the driving source 34a. The drive mechanism 34 includes a switching mechanism for switching between the drive source 34a and the two shafts 34b whether the rotation directions of the two shafts 34b are in the same direction or in the opposite directions. The drive mechanism 34 may include, for example, a deceleration mechanism for decelerating the driving force of the drive source 34a between the drive source 34a and the two shafts 34b.

The two drive wheels 36 are arranged symmetrically with respect to the main body frame 32C in the width direction W of the load 20. The two drive wheels 36 are each fixed to the two shafts 34b. That is, the two drive wheels 36 are rotated by the drive force of the drive source 34a. The two drive wheels 36 are capable of advancing / retreating operation and turning operation by switching the rotation direction of the two shafts 34b by the switching mechanism. In the first embodiment, the drive carriage 30 includes two drive wheels 36 and two shafts 34b, but includes only one drive wheel 36, and is provided so as to be capable of rotating and turning with respect to the main body frame 32C. You may. Further, in the first embodiment, one drive source 34a is provided between the two drive wheels 36, and either the advance / retreat operation or the turning operation is performed by the switching mechanism, but the two are outside the two drive wheels 36. Drive sources may be provided and driven separately. The drive carriage 30 may be any as long as it can move forward and backward and turn by self-propelling.

The four driven wheels 38 are, for example, casters. The four driven wheels 38 are provided so as to be able to rotate and turn with respect to the main body frame 32C. The four driven wheels 38 have no driving force and follow the movement of the main body frame 32C. In the first embodiment, the drive carriage 30 includes four driven wheels 38 arranged in front of and behind the two drive wheels 36, but the number and arrangement of the driven wheels 38 is not limited to this, and the driven wheels 38 are provided. It does not have to be.

The two drive carriages 30 are arranged so as to be housed in the mounted surface 20D of the mounted object 20. Specifically, the movable region of the main body frame 32C, the driving wheel 36, the driven wheel 38, and the like is arranged so as to be accommodated in the vertical direction H lower side of the mounted surface 20D of the mounted object 20.

In the first embodiment, the driven carriage 40 has a maximum load capacity on the order of t (tons) and a height equal to the height of the drive carriage 30. The driven carriage 40 includes a driven carriage frame 42 (support member) and one driven wheel 44.

The driven carriage frame 42 has a mounting surface 42U on which the mounting object 20 is mounted on the upper surface. In the first embodiment, the driven carriage frame 42 is a frame having a rectangular flat surface and a flat box shape, but any material and structure can be used as long as it has a robust material and structure on which the load 20 is placed and can withstand the load. But it may be.

The driven wheel 44 is, for example, a caster. The driven wheel 44 of the driven carriage 40 may be the same as or different from the driven wheel 38 of the drive carriage 30. The driven wheel 44 is provided so as to be able to rotate and turn with respect to the driven carriage frame 42. The driven wheel 44 has no driving force and follows the movement of the driven carriage frame 42.

The driven carriage 40 is arranged so as to be housed in the mounted surface 20D of the mounted object 20. Specifically, the movable region of the driven wheel 44 or the like is arranged so as to fit in the lower side of the mounted surface 20D of the mounted object 20 in the vertical direction H.

Hereinafter, the transportation system 10 is described so as to include the obstacle detection device 50, the image pickup device 60, and the control device 70 shown in FIGS. 3 and 4. In the first embodiment, the first building B1 is an area where it is difficult for a person to enter for a long time. The first building B1 is, for example, a reactor building. The second building B2 is a separate building from the first building B1 and is an area where people can easily enter for a long time. The second building B2 is, for example, a seismic isolated building. As shown in FIG. 3, the transport path TR of the first building B1 has a narrow and complicated structure due to obstacles BL such as internal walls, structures and rubble of the first building B1. When the loading object 20 is transported along the transport path TR, it is necessary to avoid these obstacles BL.

As shown in FIG. 3, the obstacle detection device 50 has a plurality of sensors 52. The obstacle detection device 50 of the first embodiment has a total of four sensors 52, two each provided on the left and right side surfaces of the mounted object 20. The sensor 52 is a length measuring sensor in the first embodiment. The length measuring sensor emits a band-shaped laser beam and measures the width and position of the obstacle by detecting a change in the amount of light when the obstacle blocks the laser beam. In the sensor 52, the emission direction of the laser beam is perpendicular to the side surface of the mounted object 20. The obstacle detection device 50 detects the width and position of the obstacle BL that has entered the effective detection area SF of the sensor 52. That is, the obstacle detection device 50 detects the width and position of the inner wall, structure, rubble, etc. of the first building B1, and transmits the detection result to the control device 70 described later. The position and number of the sensors 52 provided on the mounted object 20 are not limited to the first embodiment. Further, although the sensor 52 is provided on the mounted object 20 in the first embodiment, it may be provided on the drive carriage 30 and the driven carriage 40.

The image pickup apparatus 60 images the transport path TR in the first building B1. The image pickup device 60 transmits the captured image of the captured transport path TR to the control device 70 described later. The image pickup device 60 is provided, for example, on the wall surface inside the first building B1. Although the image pickup apparatus 60 is provided inside the first building B1 in the first embodiment, it may be provided on the mounted object 20, the drive carriage 30, or the driven carriage 40.

As shown in FIG. 4, the control device 70 is provided in the second building B2. The control device 70 controls the two drive carriages 30, the obstacle detection device 50, and the image pickup device 60. The control device 70 is, for example, a computer, an operation tool, or the like. In the transport system 10 of the first embodiment, the two drive carriages 30, the obstacle detection device 50, the image pickup device 60, and the control device 70 are connected to each other so as to be able to communicate wirelessly. The two drive carriages 30, the obstacle detection device 50, the image pickup device 60, and the control device 70 may be connected so as to be capable of wire communication. For example, wired communication laid around the first building B1 or near the entrance may be used, and wireless communication may be used inside the first building B1. The control device 70 includes a display unit 72, an image pickup device operation unit 74, a drive carriage operation unit 76, and an obstacle detection unit 78.

The display unit 72 displays the captured image captured by the image pickup device 60, the driving and operation status of the drive carriage 30, information on the obstacle BL detected by the obstacle detection device 50, and the like. The display unit 72 is, for example, a computer monitor. The display unit 72 may be one, and may include an image captured by the image pickup device 60, a driving and operation status of the drive carriage 30, and information on the obstacle BL detected by the obstacle detection device 50. It may be a plurality of display units 72 to display each.

The image pickup device operation unit 74 controls a plurality of image pickup devices 60 and outputs a drive signal. By operating the image pickup device operation unit 74, the operator can drive the image pickup device 60 and operate the image pickup direction. By operating the image pickup device operation unit 74, the operator can switch to the image pickup device 60 that captures the mounted object 20 among the plurality of image pickup devices 60. The display unit 72 acquires the image captured by the selected image pickup device 60 and the image captured by the vehicle 20 to which the transfer path TR is transported. In the first embodiment, the switching of the plurality of image pickup devices 60 is performed by the operator, but for example, by driving the image pickup device 60 only when the mounted object 20 intrudes into the image pickup range of the image pickup device 60, the image pickup device 60 is automatically switched. The image pickup device 60 may be switched to.

The drive carriage operation unit 76 controls the drive mechanism 34 shown in FIG. By operating the drive trolley operation unit 76, the operator can remotely control the advance / retreat and turn of the drive trolley 30. The drive and operation status of the drive carriage 30 by the drive carriage operation unit 76 is displayed on the display unit 72.

When the obstacle BL invades into the effective sensing area SF shown in FIG. 3, the obstacle detection unit 78 acquires information such as the width and position of the obstacle BL detected by the obstacle detection device 50. The obstacle detection unit 78 causes the display unit 72 to display information such as the width and position of the acquired obstacle BL.

FIG. 5 is a flowchart showing an example of a method of transporting an loaded object by a transport system. First, the operator confirms the shape of the load 20 shown in FIGS. 1 and 2 (step S10).

The operator determines the arrangement of the two drive carriages 30 and the driven carriage 40 according to the shape of the load 20 (trolley arrangement step S12). At this time, the operator arranges the two drive trolleys 30 in the two support areas S1 and arranges one driven trolley 40 in the remaining one support area S2. The operator arranges the two drive carriages 30 on the front side and the rear side in the transport direction T so as to fit within the mounted surface 20D of the load 20, and arranges them closer to the other side in the width direction W. The operator arranges the driven trolley 40 between the two drive trolleys 30 in the transport direction T so as to fit within the mounted surface 20D of the load 20 of the load 20, and moves the driven trolley 40 to one side in the width direction W. And place it.

Next, the operator mounts the load 20 on the two drive carriages 30 and the one driven carriage 40 arranged in the carriage arrangement step S12 (load step S20). At this time, the operator, for example, lifts the load 20 with a jack or lifts it with a crane. With the load 20 floating from the floor F, the operator arranges the two drive carriages 30 and the driven carriage 40 between the floor F and the mounted surface 20D of the load 20. The operator arranges the two drive carriages 30 and the driven carriage 40 at the positions determined in the carriage arrangement step S12. After that, the load 20 is lowered and mounted on the two drive trolleys 30 and one driven trolley 40 of the load 20, so that the load 20 is supported by the two drive trolleys 30 and one driven trolley 40. .. That is, the load 20 is supported in the three support areas S1 and S2.

Next, the operator drives the two drive trolleys 30 to transport the load 20 to a predetermined destination (transport step S30). Here, with reference to FIG. 6, a method of monitoring the load 20 in the transportation step S30 by the transportation system 10 will be described. FIG. 6 is a flowchart showing an example of a method of monitoring an loaded object by a transportation system. The monitoring process of the load 20 by the transport system 10 is continued at least until the load 20 arrives at a predetermined destination.

While the load 20 is transported to a predetermined destination, the obstacle detection device 50 intermittently emits the laser beam to the effective detection region SF by the sensor 52. The obstacle detection device 50 detects the obstacle BL by detecting the change in the amount of light shaded in the effective detection area SF by the sensor 52. That is, the obstacle detection unit 78 intermittently determines whether or not the obstacle BL has invaded the effective sensing region SF (step S60).

As a result of step S60, when it is determined that there is an obstacle BL in the effective sensing region SF (S60; Yes), the obstacle detection unit 78 acquires the width and position information of the obstacle BL (step S62). The control device 70 causes the display unit 72 to display the width and position information of the obstacle BL acquired by the obstacle detection unit 78 (step S64). At this time, if the distance between the mounted object 20 and the obstacle BL is equal to or less than a predetermined distance, the warning information may be displayed on the display unit 72. As a result of step S60, when it is determined that there is no obstacle BL in the effective sensing region SF (S60; No), or after step S64, the process proceeds to step S66.

Next, the image pickup apparatus 60 images the transport passage TR in the first building B1 (step S66). The control device 70 acquires an image of the transport passage TR imaged by the image pickup device 60 (step S68). The control device 70 causes the display unit 72 to display the captured image of the transport path TR captured by the image pickup device 60 (step S70). The monitoring process of the load 20 by the transport system 10 is repeated until the load 20 arrives at a predetermined destination.

The operator determines whether the load 20 can be visually recognized by the captured image displayed on the display unit 72 in step S70. When the mounted object 20 is not visible, the operator can operate the image pickup device operation unit 74 to switch the driven image pickup device 60 to another image pickup device 60. When switching to another image pickup device 60, in step S66, the image pickup device 60 after the switch takes an image of the transport passage TR. When the load 20 is visible, the operator confirms the captured image and the width and position information of the obstacle BL so that the load 20 avoids the obstacle BL and is transported along the transport path TR. The drive trolley 30 is appropriately operated by the drive trolley operation unit 76.

Next, the worker unloads the load 20 from the two drive carriages 30 and the driven carriage 40 at a predetermined destination (FIG. 5, unloading step S40). At this time, the operator, for example, lifts the load 20 with a jack. With the load 20 floating from the mounting surface 32U of the drive trolley 30 and the mounting surface 42U of the driven trolley 40, the operator attaches the two drive trolleys 30 and one driven trolley 40 to the floor surface F and the mounted object 20. It is moved from between the mounted surface 20D.

Next, the worker recovers the two drive trolleys 30 and the one driven trolley 40 from the predetermined destination (trolley recovery step S50). The two drive trolleys 30 and the one driven trolley 40 are moved to a predetermined collection place and temporarily stored. At this time, for example, the operator operates the drive trolley operation unit 76 while checking the captured image captured by the image pickup device 60 by the transport system 10, and causes the two drive trolleys 30 to travel to a predetermined collection location. You may. The drive trolley 30 and the driven trolley 40 may be connected in advance by a connecting member, and the driven trolley 40 may be recovered via the connecting member by driving the drive trolley 30 in the trolley recovery step S50. The connecting member is, for example, a rope.

As described above, according to the loading method and the transport system 10 of the first embodiment, since the two drive carriages 30 are arranged on the front side and the rear side of the transport direction T, the turning radius can be reduced. The loading 20 can be efficiently and suitably transported even in a narrow and complicated transport passage TR. Further, since the load 20, the drive carriage 30, and the driven carriage 40 are separate from each other, the load 20 can be applied to various sizes of the load 20. Further, since the driven carriage 40 is arranged closer to one side in the width direction W, the driven carriage 40 can be easily visually recognized from the side by the image pickup device 60 or the like. As a result, even after the mounted object 20 has turned, it is possible to easily grasp in which direction the mounted object 20 is facing by the image pickup device 60 or the like depending on the position of the driven carriage 40.

Further, by arranging the two drive trolleys 30 closer to the other side in the width direction W, the drive trolleys 30 can be easily visually recognized from the side. As a result, even after the mounted object 20 has turned, it is possible to easily grasp in which direction the mounted object 20 is facing by the image pickup device 60 or the like depending on the position of the drive carriage 30.

Further, since at least one of the drive carriage 30 and the driven carriage 40 is arranged so as to be housed in the mounted surface 20D, the drive carriage 30 and the driven carriage 40 do not protrude from the side of the mounted object 20, so that the passage is narrow. In addition, the loading 20 can be transported more efficiently and more preferably.

Further, since the drive carriage 30 has a maximum load capacity on the order of t (tons) and a height of 300 mm or less, it is possible to transport the load 20 in a building with a low ceiling (first building B1). ..

Further, for the two drive carriages 30 and one driven carriage 40 arranged in the carriage arrangement step S12, the load step S20 for mounting the load 20 and the load 20 for driving the two drive carriages 30 are predetermined. The transportation step S30 for transporting to the destination, the unloading step S40 for unloading the load 20 from the two drive trolleys 30 and one driven trolley 40 at the predetermined destination, and the two drive trolleys 30 and the two drive trolleys 30 from the predetermined destination. By providing the trolley recovery step S50 for recovering one driven trolley 40, the loading 20 can be efficiently and suitably transported even in a narrow and complicated passage, so that the work time required for transportation can be shortened. be able to. Further, since the two drive trolleys 30 and the one driven trolley 40 are separate from each other, the drive trolley 30 and the driven trolley 40 after unloading can be easily recovered.

Further, in the transport step S30, the drive trolley 30 is remotely controlled by the control device 70 communicably connected to the drive trolley 30, so that the operator always runs alongside the load 20 in the narrow and complicated transport passage TR. Since it is not necessary to carry the load 20 efficiently and suitably. Further, since the worker can operate from a place away from the load 20 (second building B2), it is possible to carry the vehicle into a building (first building B1) where it is difficult for a person to enter for a long time.

Further, an image pickup device 60 for imaging the load 20 is provided in the building (first building B1) for transporting the load 20, and in the transport step S30, the image pickup device 60 for imaging the load 20 is replaced with the load 20. By providing the captured image of the load 20, the posture and position of the load 20 being transported can be appropriately confirmed from a place away from the load 20, so that the operator can always check the load 20 on the load 20 in a narrow and complicated transport passage TR. It is not necessary to run in parallel, and the load 20 can be efficiently and suitably transported. In addition, it can be transported into a building (first building B1) where it is difficult for people to enter for a long time.

Further, the drive trolley 30 and the driven trolley 40 are connected by a connecting member, and in the trolley recovery step S50, the driven trolley 30 is driven to recover the driven trolley 40 via the connecting member, so that the load 20 is loaded. Since the driven trolley 40 can be recovered together with the drive trolley 30 that has been transported, the drive trolley 30 and the driven trolley 40 can be efficiently and suitably recovered.

[Second Embodiment]
FIG. 7 is a schematic side view of the transportation system according to the second embodiment. The transport system 10A shown in FIG. 7 includes two drive carriages 30, one driven carriage 40, and three intervening members 80. The transport system 10A has, with respect to the configuration of the transport system 10 according to the first embodiment, between the mounted surface 20D of the load 20 and the mounting surface 32U of the drive carriage 30 and the mounting surface 42U of the driven carriage 40, respectively. The difference is that the intervening member 80 is arranged.

The intervening member 80 has a mounting surface 80U on which the mounting object 20 is mounted on the upper surface. The mounting surface 80U of the intervening member 80 and the mounted surface 20D of the mounting object 20 may be detachably fixed.

The intervening member 80 has a position regulating portion 82. The position regulating portion 82 of the intervening member 80 arranged on each of the two drive carriages 30 has a convex shape protruding downward, and is provided so as to surround the side surface of the drive carriage 30. The position regulating unit 82 of the intervening member 80 arranged on the drive trolley 30 regulates the relative movement of the drive trolley 30 and the intervening member 80 in the horizontal plane direction, and regulates the deviation of the drive trolley 30 from the load 20. The position regulating portion 82 of the intervening member 80 arranged on the driven carriage 40 has a convex shape protruding downward, and is provided so as to surround the side surface of the driven carriage 40. The position regulating unit 82 of the intervening member 80 arranged on the driven trolley 40 regulates the relative movement of the driven trolley 40 and the intervening member 80 in the horizontal plane direction, and regulates the deviation of the driven trolley 40 from the load 20. The intervening member 80 is not limited to the shape of the second embodiment. For example, at least one convex portion that protrudes upward is provided on the mounting surface 42U of the drive carriage 30 and the driven carriage 40, and a concave position that fits into the convex portion of the drive carriage 30 and the driven carriage 40 on the bottom surface of the intervening member 80. A regulatory unit may be provided.

The intervening member 80 is arranged so as to be housed in the mounted surface 20D of the mounted object 20. Specifically, the position regulating portion 82 of the intervening member 80 is arranged so as to be accommodated on the lower side of the mounted surface 20D of the mounted object 20 in the vertical direction H.

As described above, according to the load carrying method using the transport system 10A of the second embodiment, in the bogie arrangement step S12, the mounted surface 20D of the loading 20, the mounting surface 32U of the drive bogie 30, and the driven bogie 40 The intervening member 80 is arranged between the mounting surface 42U and the mounting surface 42U, and the intervening member 80 has a position regulating unit 82 that regulates the deviation of the drive carriage 30 and the driven carriage 40 from the mounting object 20 during transportation. It is possible to prevent the load 20 from slipping off or falling off from the drive carriage 30 and the driven carriage 40.

In the second embodiment, the intervening member 80 is arranged between the mounted surface 20D of the mounted object 20, the mounted surface 32U of the drive carriage 30, and the mounting surface 42U of the driven carriage 40, but the mounted object 20 is mounted. It may be arranged on either one of the surface 20D, the mounting surface 32U of the drive carriage 30, and the mounting surface 42U of the driven carriage 40, or may be arranged on both.

[Third Embodiment]
FIG. 8 is a schematic bottom view of the transportation system according to the third embodiment. The transport system 10B shown in FIG. 8 includes two drive trolleys 30 and one driven trolley 90. The transport system 10B differs from the configuration of the transport system 10 according to the first embodiment in that it has a driven carriage 90 instead of the driven carriage 40.

The mounted surface 20D of the mounted object 20 has three support areas S1 and S2. Of the three support areas S1 and S2, two drive carriages 30 are arranged in each of the two support areas S1. Of the three support areas S1 and S2, one driven carriage 90 is arranged in the remaining one support area S2.

The driven carriage 90 is arranged between the floor surface F (see FIG. 1) and the mounted surface 20D of the mounted object 20. The driven carriage 90 is arranged between the two drive carriages 30 in the transport direction T of the load 20. The driven carriage 90 is arranged closer to one side in the width direction W orthogonal to the transport direction T in the plane of the mounted surface 20D of the mounted object 20. That is, the center of gravity P3 of the driven carriage 90 is arranged on one side of the width direction W by a predetermined amount with respect to the center line L of the mounted object 20.

In the third embodiment, the driven carriage 90 has a maximum load capacity on the order of t (tons) and a height equal to the height of the drive carriage 30. The driven carriage 90 includes a support member 92 and a plurality of driven wheels 94. The number of driven wheels 94 is four in the third embodiment.

The support member 92 mounts the load 20 and supports the load 20 together with the two drive carriages 30. The driven wheel 94 is, for example, a caster. The driven wheel 94 of the driven carriage 90 may be the same as or different from the driven wheel 38 of the drive carriage 30. The driven wheel 94 is provided so as to be able to rotate and turn with respect to the support member 92. The driven wheel 94 has no driving force and follows the movement of the support member 92.

The driven carriage 90 is arranged so as to be housed in the mounted surface 20D of the mounted object 20. Specifically, the movable region of the driven wheel 94 or the like is arranged so as to fit in the lower side of the mounted surface 20D of the mounted object 20 in the vertical direction H (see FIG. 1).

As described above, according to the load carrying method using the transport system 10B of the third embodiment, the driven carriage 90 has a support member 92 on which the load 20 is placed and a plurality of driven members provided on the support member 92. By providing the wheels 94, the load of the load 20 applied to the driven carriage 90 can be distributed to the plurality of driven wheels 94. As a result, the load on each of the driven wheels 94 of the driven carriage 90 can be reduced. Further, by providing the driven wheel 94 on the support member 92, a part of the driven wheel 94 floats from the floor surface F at a step portion or the like, and a part of the driven wheel 94 with respect to the mounted surface 20D of the mounted object 20. It can be prevented from slipping or falling off.

[Fourth Embodiment]
FIG. 9 is a schematic bottom view of the transportation system according to the fourth embodiment. The transport system 10C shown in FIG. 9 includes two drive carriages 30 and two driven carriages 40. The transport system 10C differs from the configuration of the transport system 10 according to the first embodiment in that it has two driven carriages 40.

The mounted surface 20D of the mounted object 20 has three support areas S1 and S2. Of the three support areas S1 and S2, two drive carriages 30 are arranged in each of the two support areas S1. Of the three support areas S1 and S2, the remaining one support area S2 is arranged with two driven carriages 40, respectively.

In the fourth embodiment, the two driven carriages 40 are provided side by side in the transport direction T, but may be provided side by side in the width direction W. Further, the number of the driven carriages 40 provided in the support area S2 may be three or more.

[Fifth Embodiment]
FIG. 10 is a schematic bottom view of the transportation system according to the fifth embodiment. The transport system 10D shown in FIG. 10 includes two drive trolleys 30 and one driven trolley 40. The transport system 10D has two drive carriages 30 at the center of the width direction W orthogonal to the transport direction T in the plane of the mounted surface 20D of the load 20 with respect to the configuration of the transport system 10 according to the first embodiment. It differs in that it is placed. That is, the center of gravity P1 of the drive carriage 30 is arranged along the center line L of the load 20.

As shown in the first embodiment and the fifth embodiment, the arrangement of the two drive carriages 30 in the width direction W is not particularly limited. Two drive trolleys 30 are arranged in each of the two support areas S1, and at least one driven trolley 40 is arranged in the remaining one support area S2. The load 20 is provided by the two drive trolleys 30 and at least one driven trolley 40. Any arrangement of the two drive carriages 30 in the width direction W may be used as long as the two drive carriages 30 can be supported.

In each of the above-described embodiments, the drive carriage 30, the driven carriage 40, the intervening member 80, and the driven carriage 90 are arranged so as to be housed in the mounted surface 20D of the mounted object 20, but a part thereof protrudes from the mounted surface 20D. It may be arranged as follows.

10, 10A, 10B, 10C, 10D Transport system 20 Mounting surface 20D Mounted surface 30 Drive trolley 32 Drive trolley frame 32A Mount stand 32B Swivel shaft 32C Main body frame 32U Mounting surface 34 Drive mechanism 34a Drive source 34b Shaft 36 Drive wheel 38 Driven Wheel 40 Driven trolley 42 Driven trolley frame 42U Mounting surface 44 Driven wheel 50 Obstacle detection device 52 Sensor 60 Imaging device 70 Control device 72 Display unit 74 Imaging device operation unit 76 Drive trolley operation unit 78 Obstacle detection unit 80 Intervening member 80U Surface 82 Position control unit 90 Driven trolley 92 Support member S1, S2 Support area F Floor surface T Transport direction H Vertical direction W Width direction L Center line P1, P2, P3 Center of gravity B1 1st building B2 2nd building TR Transport path BL Obstacle Object SF effective detection area S10 step S12 trolley placement step S20 loading step S30 transportation step S40 unloading step S50 trolley collection step S60, S62, S64, S66, S68, S70 step

Claims (11)

In the method of transporting loads,
Two drive trolleys and at least one driven trolley are arranged between the floor surface and the mounted surface of the mounted object, and the mounted object is arranged so as to be supported by three support areas on the mounted surface. At the same time, an intervening member having a position regulating portion that regulates the deviation of at least one of the drive carriage and the driven carriage from the mounted object is provided on the mounted surface of the mounted object, the mounting surface of the drive carriage, and the driven carriage. With a dolly placement step to place between at least one of the mounting surfaces ,
In the dolly placement step,
Two drive trolleys are arranged in each of the two support areas, and at least one driven trolley is arranged in the remaining one support area.
The two drive carriages are arranged on the front side and the rear side in the transport direction of the load.
The driven carriage is arranged between the two drive carriages in the transport direction, and is arranged closer to one side in the width direction orthogonal to the transport direction in the plane of the mounted surface. How to transport the load. In the method of transporting loads,
Two drive trolleys and at least one driven trolley are arranged between the floor surface and the mounted surface of the mounted object, and the mounted object is arranged so as to be supported by three support areas on the mounted surface. The dolly placement step and
A loading step for mounting the load on the two drive carriages and one driven carriage arranged in the carriage placement step.
A transportation step that drives the two drive trolleys to transport the load to a predetermined destination, and
An unloading step of unloading the load from the two drive carriages and one driven carriage at the predetermined destination.
A trolley recovery step for recovering the two drive trolleys and at least one driven trolley from the predetermined destination is provided.
In the dolly placement step,
Two drive trolleys are arranged in each of the two support areas, and at least one driven trolley is arranged in the remaining one support area.
The two drive carriages are arranged on the front side and the rear side in the transport direction of the load.
The driven carriage is arranged between the two drive carriages in the transport direction, and is arranged closer to one side in the width direction orthogonal to the transport direction in the plane of the mounted surface. How to transport the load. In the transportation step,
The loading method according to claim 2 , wherein the drive trolley is remotely controlled by a control device communicably connected to the drive trolley. An image pickup device for imaging the loaded object is provided in the building for transporting the loaded object.
In the transportation step,
The method for transporting a load according to claim 2 or 3 , wherein the image pickup device that captures the image of the load provides an image of the load. The drive carriage and the driven carriage are connected by a connecting member.
In the trolley collection step,
The loading method according to any one of claims 2 to 4 , wherein the driven carriage is recovered via the connecting member by driving the drive carriage. The loading method according to any one of claims 1 to 5 , wherein the two drive carriages are arranged closer to the other side in the width direction. The loading method according to any one of claims 1 to 6 , wherein at least one of the driving carriage and the driven carriage is housed and arranged in the mounted surface. The loading method according to any one of claims 1 to 7 , wherein the drive carriage has a maximum load capacity on the order of t (tons) and a height of 300 mm or less. The mounted object according to any one of claims 1 to 8 , wherein the driven carriage includes a support member on which the mounted object is placed and a plurality of driven wheels provided on the support member. Transportation method. In the load transportation system that transports the load,
Two drive trolleys and at least one driven trolley arranged between the floor surface and the mounted surface of the mounted surface and so as to support the mounted object in three support areas on the mounted surface. When,
It has a position regulating unit that regulates the deviation of at least one of the drive carriage and the driven carriage from the mounted object, and at least the mounted surface of the mounted object, the mounting surface of the drive carriage, and the mounting surface of the driven carriage. With an intervening member arranged between one and the other ,
Two drive trolleys are arranged in each of the two support areas, and at least one driven trolley is arranged in the remaining one support area.
The two drive carriages are arranged on the front side and the rear side in the transport direction of the load.
The driven carriage is arranged between the two drive carriages in the transport direction, and is arranged closer to one side in the width direction orthogonal to the transport direction in the plane of the mounted surface. Load transportation system. In a load transport system that transports a load to a predetermined destination
The mounted object is mounted in a state where the mounted object is arranged between the floor surface and the mounted surface of the mounted surface and the mounted object is supported by three support areas on the mounted surface. Equipped with two drive trolleys and at least one driven trolley to transport to a predetermined destination ,
Two drive trolleys are arranged in each of the two support areas, and at least one driven trolley is arranged in the remaining one support area.
The two drive carriages are arranged on the front side and the rear side in the transport direction of the load.
The driven trolley is arranged between the two drive trolleys in the transport direction, and is arranged close to one side in the width direction orthogonal to the transport direction in the plane of the mounted surface .
The load carrying system , wherein the two drive carts and at least one driven carriage are unloaded at the predetermined destination and then recovered from the predetermined destination .

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