JPH06206613A - Conveying device - Google Patents

Conveying device

Info

Publication number
JPH06206613A
JPH06206613A JP5247062A JP24706293A JPH06206613A JP H06206613 A JPH06206613 A JP H06206613A JP 5247062 A JP5247062 A JP 5247062A JP 24706293 A JP24706293 A JP 24706293A JP H06206613 A JPH06206613 A JP H06206613A
Authority
JP
Japan
Prior art keywords
carrier
transported
transport
jack
conveyed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP5247062A
Other languages
Japanese (ja)
Other versions
JP3525260B2 (en
Inventor
Takashi Kono
Tomochika Nakamura
Yuji Yuda
知親 中村
隆 河野
祐治 湯田
Original Assignee
Sankiyuu Kk
山九株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP26494592 priority Critical
Priority to JP4-264945 priority
Application filed by Sankiyuu Kk, 山九株式会社 filed Critical Sankiyuu Kk
Priority to JP24706293A priority patent/JP3525260B2/en
Publication of JPH06206613A publication Critical patent/JPH06206613A/en
Application granted granted Critical
Publication of JP3525260B2 publication Critical patent/JP3525260B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Abstract

PURPOSE:To carry out conveyance of an article to be conveyed, positioning of the article installation, and installation easily and safely. CONSTITUTION:A conveying device is provided with plural carriages 1, each of which has a supporting platform 300 for supporting an article to be conveyed, places the article to be conveyed on the supporting platform 300 and is operted. The supporting platform 300 is raised/lowered by an air jack 301. Plural carriages 1 are operated by synchronously controlling the speed and the traveling direction of each of the carriages 1 to keep the relative position of each of the supporting platforms 300 constant while placing and supporting the article to be conveyed on it. When the operation is carried out on a slope and the like, air volume of the air jack 301 is regulated by a level sensor installed on the article to be conveyed and an air pressure detecting sensor, which is installed on each of the carriages 1, for the air jack 301, so that each of the supporting platforms 300 is kept in the fixed height horizontally. The operation is carried out by remote control.

Description

【発明の詳細な説明】Detailed Description of the Invention
【0001】[0001]
【産業上の利用分野】本発明は物資の搬送・据付け、特
に中量物、重量物の搬送・据付けに好適な搬送装置を提
供することを目的とする。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has an object to provide a conveying apparatus suitable for conveying and installing materials, particularly for conveying and installing medium and heavy materials.
【0002】[0002]
【従来の技術】物資の搬送・据付け作業、特に中重量物
の搬送・据付け作業においては、天井クレーン等が使用
できない場合、コロ、車輪付き台車、ジャッキ、リフト
等を用いて作業している。
2. Description of the Related Art In the transportation and installation work of materials, especially the transportation and installation work of medium and heavy objects, when an overhead crane or the like cannot be used, work is carried out using rollers, wheeled carts, jacks, lifts and the like.
【0003】[0003]
【発明が解決しようとする課題】これらを用いた作業で
は人手や時間がかかる上に、付帯する作業が必要で極め
て煩雑である。すなわち、コロや車輪付きの台車に搬送
対象物資を乗せて電動や手動のウインチによりロープで
牽引するなどして搬送対象物資の据付け位置に移動させ
る場合、ロープをひっかける柱などの支点となるものが
必要となり(支点取り)、さらに、この方法では1つの
支点で一方向への直進移動しか行えない。また、車輪付
きの台車に搬送対象物資を乗せてフォークリフトなどで
牽引して搬送対象物資を据付け位置まで移動させる場
合、所定の位置に正確にあわせるために移動させること
は困難であり、ジャッキなどを用い搬送対象物資を押す
などして位置をあわせる必要があり、そのうえ、据付け
のためにはジャッキなどで仮受けしてからでないと据え
付けることができない。さらに、搬送対象物資が移動す
る床面には、コロや車輪付き台車の方向転換時に発生す
る横ズレによる床損傷防止のために木材や鉄板などを敷
いたりする必要がある(フロア養生)。そのうえ、斜面
を移動させる場合、搬送対象物資が傾き、特に搬送対象
物資が1乃至20t程度の中重量物の場合、搬送中に脱
落してしまう恐れがある。この点の防止の為には、斜面
で搬送対象物資を一度ジャッキなどで持ち上げ、車輪付
き台車などの搬送装置の間に支持物を入れて、搬送対象
物資の水平を保つ必要がある(段取替え)。
The work using these requires a lot of manpower and time and requires additional work, which is extremely complicated. In other words, when the material to be transported is placed on a trolley with wheels or wheels and is pulled to the installation position of the material to be transported by pulling with a rope by an electric or manual winch, a fulcrum such as a pillar for hooking the rope is This is necessary (take a fulcrum), and further, this method can perform only a straight movement in one direction with one fulcrum. Also, when carrying a material to be transported on a trolley with wheels and pulling it with a forklift etc. to move the material to be transported to the installation position, it is difficult to move the material to be accurately adjusted to a predetermined position, and jacks etc. It is necessary to align the positions of the materials to be transported by pushing the materials to be transported, and in addition, for installation, it must be temporarily received by a jack or the like before installation. Furthermore, it is necessary to lay wood or iron plates on the floor surface where the material to be transported moves in order to prevent floor damage due to lateral displacement that occurs when the roller or wheeled trolley changes direction (floor curing). In addition, when the slope is moved, the material to be transported is inclined, and particularly when the material to be transported is a medium-weight object of about 1 to 20 tons, it may fall off during transportation. In order to prevent this point, it is necessary to lift the material to be transported on the slope with a jack once, and put a support between the transportation devices such as a trolley with wheels to keep the material to be transported horizontal. ).
【0004】また、搬送の対象となる物資の下で機器操
作をする場合があるため作業者の安全上の点からも問題
である。
In addition, since there are cases where the equipment is operated under the material to be transported, there is a problem in terms of the safety of the operator.
【0005】本発明は、搬送対象物資の搬送、物資の据
付け位置決め、据付けを容易かつ安全に行うことができ
る搬送装置を提供することを目的とする。
An object of the present invention is to provide a carrier device which can easily and safely carry a material to be carried, position and position the material, and install the material.
【0006】[0006]
【課題を解決するための手段】上記課題を解決するため
の本発明の要旨は、搬送対象物資を支持する支持台を有
し前記搬送対象物資を前記支持台上に載置して運行する
複数の搬送車と、該複数の搬送車の支持台を昇降する昇
降手段と、該各搬送車の運行のスピードと進行方向とを
同調制御して前記各支持台上に前記搬送対象物資を載置
して支持したまま前記各支持台の相対位置を一定に保持
しつつ前記複数の搬送車の運行を行わせる運行制御手段
とを備えた搬送装置にある。
Means for Solving the Problems The gist of the present invention for solving the above-mentioned problems is to provide a plurality of supporting bases for supporting a material to be conveyed, the plurality of materials being placed on the supporting base to operate. Of the transport vehicles, elevating means for raising and lowering the support bases of the plurality of transport vehicles, and synchronous control of the operation speed and traveling direction of each of the transport vehicles to place the transport target material on each of the support bases. And a transportation control means for operating the plurality of transportation vehicles while keeping the relative positions of the respective support bases constant while being supported.
【0007】また、前記運行を斜面や起伏、うねりのあ
る路面で行うときに前記各支持台を一定高さに水平に保
つ水平保持手段を備えた前記の搬送装置も要旨とする。
[0007] Further, the gist of the above-mentioned transfer device is also provided with a horizontal holding means for holding each of the support bases horizontally at a constant height when the operation is performed on a road surface with slopes, undulations and undulations.
【0008】前記運行と昇降とを遠隔操作により行う遠
隔操作手段を備えた前記のいずれかの搬送装置も要旨と
する。
[0008] Any one of the above-mentioned transporting devices provided with a remote control means for performing the operation and the elevating / lowering by remote control is also a gist.
【0009】[0009]
【作用】複数の搬送車を運行させて床面上の台に載置さ
れた搬送対象物資と該床面との間にそれぞれ位置させ
る。この後、各搬送車の支持台を上昇させて搬送対象物
資を持ち上げ各支持台上に支持する。この状態で、運行
制御手段により各搬送車の運行のスピードと進行方向と
を同調制御して各支持台の相対位置を一定に保持したま
ま各搬送車の運行を行わせ、搬送対象物資の据付け位置
に運ぶ。
Operation: A plurality of transport vehicles are operated to be positioned between the object to be transported placed on the table on the floor and the floor. After that, the support base of each carrier is lifted to lift the material to be conveyed and supported on each support base. In this state, the operation control means synchronously controls the operation speed and traveling direction of each transport vehicle to operate each transport vehicle while keeping the relative position of each support base constant, and installs the material to be transported. Carry to position.
【0010】搬送装置が水平保持手段を備えた前記の構
成の場合は、搬送車が斜面を運行するときに水平保持手
段が各支持台を一定高さに水平に保つ。
In the case of the above-mentioned structure in which the transport device is provided with the horizontal holding means, the horizontal holding means keeps each support base horizontally at a constant height when the transport vehicle travels on the slope.
【0011】搬送装置が遠隔操作手段を備えた前記の構
成の場合は、各搬送車の前記の運行と各支持台の昇降と
を遠隔操作により行う。
In the case of the above-mentioned construction in which the transfer device is provided with the remote control means, the above-mentioned operation of each transfer vehicle and the raising and lowering of each support stand are performed by remote control.
【0012】[0012]
【実施例】以下、本発明の実施例を図面を参照しつつ説
明する。図1乃至3は本発明の第1の実施例の搬送装置
に用いる搬送車の構造を説明する図である。図1は、か
かる搬送車の左側面図であり、図2は底面図であり、図
3は背面図である。同図1乃至3を参照して、搬送車1
は台車2とジャッキ部3とを備えている。台車2には駆
動ローラ200とフリーローラ201とが設けてあり、
駆動ローラ200は一台の搬送車1に2本設けられ、そ
れぞれの駆動ローラ200が別個の減速機付きモータ2
02で駆動され、搬送車1を運行させる。フリーローラ
201は、支点軸203を中心に回動自在に台車2に設
けられている。
Embodiments of the present invention will be described below with reference to the drawings. 1 to 3 are views for explaining the structure of a carrier vehicle used in the carrier device according to the first embodiment of the present invention. FIG. 1 is a left side view of such a carrier, FIG. 2 is a bottom view, and FIG. 3 is a rear view. 1 to 3, the carrier 1
Has a truck 2 and a jack portion 3. The carriage 2 is provided with a drive roller 200 and a free roller 201,
Two drive rollers 200 are provided in one transport vehicle 1, and each drive roller 200 has a separate motor 2 with a reduction gear.
Driven by 02, the carrier 1 is operated. The free roller 201 is provided on the carriage 2 so as to be rotatable around a fulcrum shaft 203.
【0013】ジャッキ部3は支持台300、エアジャッ
キ301、油圧ストッパ302、台座303を備えてい
る。支持台300は搬送対象物資を載置して支持するた
めの台である。支持台300は台座303上に設けられ
たエアジャッキ301で支持され、エアジャッキ301
は該支持台300を昇降する。エアジャッキ301はバ
ックタイプのエアジャッキであり、図示しないエアボン
ベ、エアポンプにより内部の空気を出し入れすることに
より支持台301に前記の昇降を行わせる。油圧ストッ
パ302は、エアジャッキ301で支持台301を昇降
することに鑑み、エアジャッキ301の破損や急激な空
気もれなどが発生し、搬送対象物資を水平に保持するこ
とが困難になった場合にその図示しない油圧回路を閉じ
ることにより、支持台301が大きく傾いて搬送対象物
資がずり落ちるのを防止している。台座303は支点軸
204により回動自在に台車2に支持されており、エア
ジャッキ301はかかる台座303上に載置され、油圧
ストッパ302も台座303に支持されているから、ジ
ャッキ部3全体が支点軸204に回動自在に支持されて
いることになる。なお、図2はジャッキ部3全体を、図
3はエアシリンダ302をそれぞれ切り欠いた図で示し
てある。
The jack section 3 includes a support base 300, an air jack 301, a hydraulic stopper 302, and a base 303. The support table 300 is a table on which the material to be transported is placed and supported. The support base 300 is supported by an air jack 301 provided on a pedestal 303.
Moves up and down the support base 300. The air jack 301 is a back-type air jack, and causes the support base 301 to move up and down by taking air in and out by an air cylinder and an air pump (not shown). When the hydraulic stopper 302 moves up and down the support base 301 with the air jack 301, when the air jack 301 is damaged or a sudden air leak occurs, it becomes difficult to horizontally hold the object to be transported. Further, by closing the hydraulic circuit (not shown), it is possible to prevent the support base 301 from largely tilting and the material to be conveyed falling off. The pedestal 303 is rotatably supported by the trolley 2 by the fulcrum shaft 204, the air jack 301 is placed on the pedestal 303, and the hydraulic stopper 302 is also supported by the pedestal 303. The fulcrum shaft 204 is rotatably supported. 2 shows the entire jack portion 3, and FIG. 3 shows the air cylinder 302 in a cutaway view.
【0014】上記のような搬送車1は二つの駆動ローラ
200が減速機付きモータ202で別個に駆動、制御さ
れることから、この駆動ローラ200の回転数の差によ
り、直進、操舵、旋回の各動作を行う。すなわち、直進
動作の時は両駆動ローラ200を同回転数で駆動する。
また、操舵動作の時は駆動ローラ200の一方を停止、
又は減速し他方を駆動することで操舵する。旋回動作の
時は両駆動ローラを逆方向に回転駆動する。
In the transport vehicle 1 as described above, since the two driving rollers 200 are separately driven and controlled by the motor 202 with a speed reducer, the straight driving, the steering and the turning can be performed due to the difference in the rotational speed of the driving rollers 200. Perform each operation. That is, when driving straight, both drive rollers 200 are driven at the same number of revolutions.
Further, at the time of steering operation, one of the driving rollers 200 is stopped,
Alternatively, steering is performed by decelerating and driving the other. During the turning operation, both drive rollers are rotationally driven in opposite directions.
【0015】本実施例の搬送装置は上記のような構成の
搬送車1を例えば3乃至4台を一組として備えており、
かかる3乃至4台の搬送車1のそれぞれのエアジャッキ
301でそれぞれの支持台300を一様な高さに上昇さ
せ、該3乃至4の支持台300で1つの搬送対象物資を
支える。
The carrier device of the present embodiment is equipped with, for example, 3 to 4 carrier vehicles 1 having the above-described structure,
Each of the air jacks 301 of the three to four transport vehicles 1 raises the respective support bases 300 to a uniform height, and the three or four support bases 300 support one material to be transported.
【0016】このように例えば3乃至4台を一組とした
搬送車1で1つの搬送対象物資を支えたまま、各搬送車
1のスピード、方向を同調制御して各支持台300のそ
れぞれの相対位置を一定に保持しつつ、各搬送車1は運
行する。すなわち、例えば任意半径での円弧状移動をす
る場合などに、進行方向側とその後側の台車2の向きが
左右に異なっていても、ジャッキ部3は支点軸204に
回動自在に支持されており、支持台300には搬送対象
物資が載置されていてジャッキ部3が回動し、支持台3
00と搬送対象物資との相対位置に変化はないから、各
支持台300のそれぞれの相対位置も一定に保持され
る。各搬送車1単独の速度制御は各搬送車1の旋回中心
に設けられた図示しないロータリーエンコーダの出力パ
ルスで制御し、各搬送車1間の速度制御はジャッキ部3
に設けられた図示しない歪センサの出力により制御す
る。これらの制御は高速応答性とプログラムによらない
柔軟性などが要求されるため、公知の高速制御方式やフ
ァジイコントロール方式などを用いて行っている。各搬
送車1の上述の運行、支持台300の昇降は、公知の手
段により遠隔操作で行う。
In this way, for example, while the carrier 1 consisting of a set of 3 to 4 units supports one object to be conveyed, the speed and direction of each carrier 1 are synchronously controlled to control each of the supports 300. Each carrier 1 operates while keeping the relative position constant. That is, for example, in the case of moving in an arc shape with an arbitrary radius, the jack portion 3 is rotatably supported by the fulcrum shaft 204 even if the trolley 2 on the traveling direction side and the trolley 2 on the rear side differ in direction. The material to be transported is placed on the support base 300, and the jack portion 3 is rotated to move the support base 3
Since there is no change in the relative position between 00 and the material to be transported, the relative position of each support table 300 is also held constant. The speed control of each transport vehicle 1 is controlled by an output pulse of a rotary encoder (not shown) provided at the turning center of each transport vehicle 1, and the speed control between the transport vehicles 1 is controlled by the jack unit 3.
It is controlled by the output of a strain sensor (not shown) provided in the. Since these controls require high-speed responsiveness and flexibility not depending on a program, a known high-speed control system or fuzzy control system is used. The above-described operation of each transport vehicle 1 and the raising and lowering of the support base 300 are performed by remote control by known means.
【0017】1つの搬送対象物資を例えば3乃至4台の
搬送車1で支えて斜面を運行する場合、搬送対象物資が
傾くが、これについては次のようにして搬送対象物資の
水平を保っている。すなわち、搬送対象物資上に図示し
ないレベラーセンサを設置し、また各搬送車1に設けた
エアジャッキ301の空気圧を検出する図示しないセン
サを公知の手段により各搬送車1に設け、これらによる
空気圧信号と図示しないレベラーセンサの出力信号とで
各搬送車1の支持台300をどの程度昇降する必要があ
るかを検出し、これによって各搬送車1のエアジャッキ
301の空気量を図示しないエアポンプにより調節して
ファジイ制御によりエアジャッキ301の空気量を調節
して、自動的に支持台300を昇降して常に各支持台3
00の高さが一定になるように制御される。
When one transportation target material is supported by, for example, three to four transportation vehicles 1 and travels on a slope, the transportation target material is inclined, but with respect to this, the transportation target material is kept horizontal as follows. There is. That is, a leveler sensor (not shown) is installed on the material to be transported, and a sensor (not shown) for detecting the air pressure of the air jack 301 provided on each transport vehicle 1 is provided on each transport vehicle 1 by a known means. And an output signal of a leveler sensor (not shown) detect how much the support base 300 of each carrier 1 needs to be raised and lowered, and thereby adjust the air amount of the air jack 301 of each carrier 1 by an air pump (not shown). Then, the amount of air in the air jack 301 is adjusted by fuzzy control, and the support base 300 is automatically moved up and down so that each support base 3
The height of 00 is controlled to be constant.
【0018】斜面を搬送車1が運行する場合、各支持台
300の高さを一定に保つのみならず、各支持台300
の傾きも水平に保つ必要もあるが、この点についてはエ
アジャッキ301が柔構造であることから、各支持台3
00が同一高さに保たれれば搬送対象物資の重みにより
各支持台300が斜面の昇り方向に傾いて自動的に水平
に保たれる。
When the carrier 1 operates on the slope, not only the height of each support table 300 is kept constant, but also each support table 300.
It is also necessary to keep the inclination of the horizontal direction, but regarding this point, since the air jack 301 has a flexible structure,
If 00 is kept at the same height, the weights of the materials to be conveyed cause each of the supports 300 to be tilted in the ascending direction of the slope and automatically kept horizontal.
【0019】なお、搬送車1のジャッキ部3は取外しが
可能であり、作業条件によっては台車3からジャッキ部
3を取外して該ジャッキ部3を他の構成とすることがで
きる。図4はこのように構成した搬送車1の一例を示す
ものであり、図4(a)は上記搬送車1のものと同様の
台車2であり、図4(b)は、かかる台車2に高揚程電
動ジャッキ4を設けた搬送車1を示すものである。斜面
運行中の支持台400の水平は、支持台400を支持す
る腕401の支持部402が支持台400の面方向にス
ライドして保たれる。
The jack portion 3 of the transport vehicle 1 can be removed, and the jack portion 3 can be removed from the carriage 3 to have another structure depending on working conditions. FIG. 4 shows an example of the carrier 1 configured as described above, FIG. 4 (a) shows a dolly 2 similar to that of the carrier 1, and FIG. 4 (b) shows such a dolly 2. 1 shows a carrier 1 provided with a high-lift electric jack 4. The horizontal position of the support base 400 during the operation on the slope is maintained by the support portion 402 of the arm 401 supporting the support base 400 sliding in the surface direction of the support base 400.
【0020】次に、本実施例の搬送装置を用いて搬送対
象物資を搬送、据付けする手順について説明する。図5
乃至9は本実施例の搬送装置を用いて搬送対象物資を搬
送、据付けする手順について説明する図である。
Next, a procedure for carrying and installing a material to be carried using the carrying apparatus of this embodiment will be described. Figure 5
9A to 9C are diagrams illustrating a procedure for carrying and installing a material to be carried using the carrying device of the present embodiment.
【0021】図5を参照して、搬送対象物資5は床面6
に置かれた台7の上に載置されている。作業者は例えば
3乃至4台の搬送車1を遠隔操作により運行させ搬送対
象物資5と床面6の間の隙間に各搬送車1を移動させ
る。この後、遠隔操作により前述のようにエアジャッキ
301で各支持台300を一定高さに上昇させ、搬送対
象物資5を支持して持ち上げる。このとき搬送対象物資
5の重心の位置は各搬送対象物資5により異なるので、
各支持台300で搬送対象物資5を支持しても搬送対象
物資5が傾かないよう各搬送車1の配置位置を考慮しな
ければならない。
Referring to FIG. 5, the material 5 to be transported is the floor 6
It is placed on the table 7 placed at. The operator operates, for example, three to four transport vehicles 1 by remote control, and moves each transport vehicle 1 into the gap between the material 5 to be transported and the floor surface 6. After that, each support base 300 is raised to a certain height by the air jack 301 by remote control, and the material 5 to be conveyed is supported and lifted. At this time, the position of the center of gravity of the material 5 to be transported differs depending on each material 5 to be transported.
It is necessary to consider the arrangement position of each transport vehicle 1 so that the transport target material 5 does not incline even if the transport target material 5 is supported by each support base 300.
【0022】この後、前述の通りに各搬送車1のスピー
ド、方向を同調制御して各支持台300のそれぞれの相
対位置を一定に保持しつつ搬送対象物資5を支持したま
ま各搬送車を運行して搬送対象物資5の据付け位置まで
搬送することができる。このとき、各搬送車1の駆動ロ
ーラ201に前述の通り直進、操舵、旋回の動作をさせ
て、搬送対象物資5に任意方向への直進移動、その場旋
回移動、任意半径での円弧状移動を行わしめることがで
きる。図6乃至図8は搬送車1によるこのような動作を
示したものであり、図6は図中矢示方向への直進移動
を、図7は図中矢示方向へのその場旋回移動を、図8は
図中矢示方向への任意半径での円弧状移動をそれぞれ示
すものである。
After that, as described above, the speeds and directions of the transport vehicles 1 are synchronously controlled so that the relative positions of the respective support bases 300 are kept constant and the transport vehicles 5 are supported while supporting the material 5 to be transported. It can be operated and transported to the installation position of the transportation target material 5. At this time, the drive roller 201 of each transport vehicle 1 is caused to move straight, steer, and turn as described above, so that the material 5 to be transported moves straight in an arbitrary direction, turns on the spot, and moves in an arc shape with an arbitrary radius. Can be done. 6 to 8 show such an operation by the carrier vehicle 1. FIG. 6 shows a straight movement in a direction indicated by an arrow in the figure, and FIG. 7 shows an in-situ turning movement in a direction indicated by an arrow in the figure. Reference numeral 8 indicates an arcuate movement at an arbitrary radius in the direction of the arrow in the figure.
【0023】また、搬送車1が斜面上や起伏、うねりの
ある路面を運行する場合は上述のように自動的に搬送対
象物資の水平が保たれる。図9は搬送対象物資5を支持
した搬送車1が斜面を運行している状態を示す図であ
る。同図に示すように斜面8の昇り側の搬送車1のエア
ジャッキ301から空気を抜いて支持台300を下げ、
斜面の昇り側と下り側の搬送車1の支持台300の高さ
を水平に保っている。このとき各支持台300は搬送対
象物資5の重みにより斜面の昇り側に傾くから、各支持
台300も水平に保たれる。これにより搬送対象物資5
の水平が保たれる。
Further, when the carrier 1 travels on a slope or on a road surface with undulations and undulations, the material to be conveyed is automatically kept horizontal as described above. FIG. 9 is a diagram showing a state in which the transport vehicle 1 supporting the transport target material 5 is traveling on a slope. As shown in the figure, the air is released from the air jack 301 of the carrier 1 on the rising side of the slope 8 to lower the support base 300,
The heights of the supports 300 of the carrier 1 on the ascending side and the descending side of the slope are kept horizontal. At this time, since each support table 300 is inclined to the rising side of the slope due to the weight of the material 5 to be transported, each support table 300 is also kept horizontal. As a result, the materials to be transported 5
Is kept horizontal.
【0024】このようにして、搬送対象物資5を据付け
位置に搬送したら、あらかじめ該位置に置かれた図5の
台7上に各搬送車1を位置させて、支持台300を下降
させれば、第7上に搬送対象物資5を据付けることがで
きる。
In this way, when the material 5 to be transported is transported to the installation position, each transport vehicle 1 is placed on the platform 7 of FIG. 5 placed in that position in advance and the support platform 300 is lowered. The material 5 to be transported can be installed on the seventh.
【0025】以上説明した本実施例の搬送装置によれ
ば、搬送対象物資5の搬送、物資の据付け位置決め、据
付けまでを支点取りなどの煩雑な作業なしに容易に行う
ことができる。
According to the transport apparatus of the present embodiment described above, the transport of the material 5 to be transported, the installation positioning of the material, and the installation can be easily performed without complicated operations such as fulcrum picking.
【0026】また、斜面上などを搬送する場合も段取替
え等なしに搬送対象物資5の搬送が行え、この点でも搬
送作業が容易となる。
Further, when carrying on a slope or the like, it is possible to carry the material 5 to be carried without setup change and the like, which also facilitates the carrying work.
【0027】さらに、遠隔操作により搬送対象物資5の
搬送、物資の据付け位置決め、据付けまでを行え、搬送
対象物資5の下で機器操作をする必要もなく、作業者の
安全が図られる。
Further, it is possible to carry out the transportation of the material 5 to be transported, the installation positioning and the installation of the material 5 by remote operation, and it is not necessary to operate the equipment under the material 5 to be transported, and the safety of the worker can be achieved.
【0028】つづいて本発明の第2の実施例について説
明する。図10乃至図12は、この第2の実施例である
搬送措置に用いる搬送車1´を示す図であり、図10は
搬送車1´の正面図、図11は搬送車1´の断面図、図
12は搬送車1´の平面図である。図1乃至図3と同一
符号の部材は、第1の実施例と同様の部材であり説明を
省略する。以下では、本実施例の搬送車1´が第1の実
施例の搬送車1と異なる点を中心に説明する。
Next, a second embodiment of the present invention will be described. 10 to 12 are views showing a carrier vehicle 1'used in the carrier device according to the second embodiment. FIG. 10 is a front view of the carrier vehicle 1 ', and FIG. 11 is a sectional view of the carrier vehicle 1'. 12 is a plan view of the carrier 1 '. The members having the same reference numerals as those in FIGS. 1 to 3 are the same members as those in the first embodiment, and the description thereof will be omitted. The following description will focus on the points that the carrier 1'of the present embodiment differs from the carrier 1 of the first embodiment.
【0029】搬送車1´は、台車2´内に設けられたジ
ャッキ部3´を備えている。このジャッキ部3´はスク
リュージャッキ300´によりロッド301´を介して
ロッド301´の先端部に設けられた支持台302´を
昇降するものである。スクリュージャッキ300´はギ
ヤードモータ305´により駆動される。また、ロッド
301´のストロークはロータリーエンコーダ310´
で検出される。支持台302´は球面滑り軸受(球面ブ
ッシュ)であり、その上端面はロッド301´の周囲3
60°すべての方向に傾き可能である。
The carrier vehicle 1'includes a jack portion 3'provided in the carriage 2 '. The jack portion 3'is for moving up and down a support base 302 'provided at the tip of the rod 301' via a rod 301 'by a screw jack 300'. The screw jack 300 'is driven by a geared motor 305'. Also, the stroke of the rod 301 'is determined by the rotary encoder 310'.
Detected in. The support base 302 'is a spherical plain bearing (spherical bush), and the upper end surface of the support base 302' is around the rod 301 '.
It can be tilted in all 60 ° directions.
【0030】台車2´上には台座303´がスライド軸
受304´を介して回転自在に取り付けられている。こ
の台座303´の中央部には支持台302´が挿通する
孔306´が形成されている。この孔306´の周囲に
はリングギア307´が形成され、台車2´に設けられ
たピニオンギア308´と噛み合い、リングギア308
´の軸は、ロータリーエンコーダ309´に連結され、
台座303´の回転角は、このロータリーエンコーダ3
09´により検出される。
A pedestal 303 'is rotatably mounted on the carriage 2'via a slide bearing 304'. A hole 306 'through which the support 302' is inserted is formed in the center of the pedestal 303 '. A ring gear 307 'is formed around the hole 306', meshes with a pinion gear 308 'provided on the truck 2', and the ring gear 308 'is engaged.
The axis of'is connected to the rotary encoder 309 ',
The rotation angle of the pedestal 303 'is determined by the rotary encoder 3
09 'is detected.
【0031】このロータリーエンコーダ309´の下部
には、図示しない電磁ブレーキが設けられ、台座303
´の台車2´に対する回転を抑止することができる。駆
動ローラ200、フリーローラ201の取付けには、サ
スペンション機構やその他図示しない衝撃緩衝手段など
を公知の手段により備えて、凹凸のある路面などを走行
する場合でも搬送対象物資に強い衝撃を与えないように
している。
An electromagnetic brake (not shown) is provided below the rotary encoder 309 ', and the pedestal 303 is provided.
It is possible to prevent the rotation of the ‘′ with respect to the carriage 2 ′. The drive roller 200 and the free roller 201 are mounted by a known mechanism such as a suspension mechanism and other shock absorbing means (not shown) so as not to give a strong shock to the material to be conveyed even when traveling on an uneven road surface. I have to.
【0032】本実施例の搬送装置においても、搬送車1
´を例えば3乃至4台を一組として備えており、種々の
アタッチメントを台車2´上に設けて用いる。次にこれ
らのアタッチメントの一例について説明する。図13
は、このようなアタッチメントの一例としての連結フレ
ームを用いた場合を説明する図である。この連結フレー
ム9は例えば4台で一組の搬送装置を構成する搬送車1
´に4つ用いる。この連結フレーム9は各搬送車1´の
各台座303´を連結し固定するものである。搬送対象
物資5の支持はスクリュージャッキ300´で各支持台
302´を昇降して1つの搬送対象物資5を支える。図
13はこのように4台の搬送車1´で搬送対象物資を支
えた状態の平面図である。
Also in the transport apparatus of this embodiment, the transport vehicle 1
3'is provided as one set, and various attachments are provided on the carriage 2'and used. Next, an example of these attachments will be described. FIG.
FIG. 6 is a diagram illustrating a case where a connecting frame is used as an example of such an attachment. This connecting frame 9 is, for example, four carriages 1 which form a set of conveyors.
We use four for '. The connection frame 9 connects and fixes the bases 303 'of the transport vehicles 1'. In order to support the material 5 to be transported, each of the support bases 302 'is moved up and down by the screw jack 300' to support one material 5 to be transported. FIG. 13 is a plan view showing a state in which the materials to be transported are supported by the four transport vehicles 1'in this manner.
【0033】このように、例えば3乃至4台を一組とし
た搬送車1´で1つの搬送対象物資5を支えたまま、ス
ピード、方向を同調制御して各台座303´の相対位置
を一定に保持しつつ、各搬送車1´は運行する。すなわ
ち、例えば任意半径での円弧状移動をする場合などに、
進行方向側とその後側の台車2の向きが左右に異なって
いても、支持台302´は台車2´に対して回転自在に
支持されている一方、連結フレーム9で連結固定された
台座303´の相対位置は不変で、支持台302´の相
対位置も不変あるから搬送対象物資5が脱落することは
なく、台座303´の回転角は、このロータリーエンコ
ーダ309´により検出され、この出力パルスに基づい
て各搬送車1´単独の速度制御が行なわれる。各搬送車
1´間の速度制御は図示しない歪センサの出力により制
御する。これらの制御は高速応答性とプログラムによら
ない柔軟性などが要求されるため、公知の高速制御方式
やファジイコントロール方式などを用いて行っている。
各搬送車1´の運行、支持台302´の昇降は、実施例
1と同様に公知の手段により遠隔操作で行う。
In this way, the relative position of each pedestal 303 'is fixed by controlling the speed and direction in synchronization while supporting one material 5 to be transported by the transport vehicle 1'composed of, for example, 3 to 4 vehicles. Each carrier vehicle 1 ′ operates while being held at. That is, for example, when moving in an arc shape with an arbitrary radius,
Even if the trolley 2 on the traveling direction side and the trolley 2 on the rear side differ in direction, the support base 302 'is rotatably supported with respect to the trolley 2', while the pedestal 303 'is fixedly connected by the connecting frame 9. , The relative position of the support table 302 ′ is unchanged, and therefore the material 5 to be conveyed does not fall off. The rotation angle of the pedestal 303 ′ is detected by the rotary encoder 309 ′ and Based on this, the speed control of each of the carrier vehicles 1'is performed. The speed control between the transport vehicles 1'is controlled by the output of a strain sensor (not shown). Since these controls require high-speed responsiveness and flexibility not depending on a program, a known high-speed control system or fuzzy control system is used.
The operation of each transport vehicle 1'and the raising and lowering of the support base 302 'are performed remotely by a known means as in the first embodiment.
【0034】1つの搬送対象物資5を例えば3乃至4台
の搬送車1´で支えて斜面を運行する場合、搬送対象物
資5が傾くが、これについては次のようにして搬送対象
物資5の水平を保っている。すなわち、搬送対象物資5
上に図示しないレベラーセンサを設置し、このレベラー
センサの出力信号とロッド301´のストロークを検出
するロータリーエンコーダ310´出力信号で各搬送車
1´の支持台302´をどの程度昇降する必要があるか
を検出し、これによって各搬送車1´のスクリュージャ
ッキ300´を駆動して、ファジイ制御などにより自動
的に支持台302´を昇降して常に図示しない各アタッ
チメントの高さが一定になるように制御される。
When one transportation target material 5 is supported on, for example, three to four transportation vehicles 1'for traveling on a slope, the transportation target material 5 inclines, but this is as follows. It remains horizontal. That is, the material to be transported 5
It is necessary to install a leveler sensor (not shown) on the above, and to what extent the support base 302 ′ of each carrier 1 ′ needs to be moved up and down by the output signal of this leveler sensor and the output signal of the rotary encoder 310 ′ that detects the stroke of the rod 301 ′. It is detected and the screw jack 300 ′ of each carrier 1 ′ is driven by this, and the support base 302 ′ is automatically moved up and down by fuzzy control or the like so that the height of each attachment (not shown) is always constant. Controlled by.
【0035】斜面を搬送車1´が運行する場合、支持台
302´の高さを一定に保つのみならず、傾きを水平に
保つ必要もあるが、この点については支持台302´が
球面滑り軸受(球面ブッシュ)であり、その上端面はロ
ッド301´の周囲360°すべての方向に傾き可能で
あることから、各アタッチメントが同一高さに保たれれ
ば搬送対象物資の重みにより各支持台302´が斜面の
昇り方向に傾いて自動的に水平に保たれる。
When the carrier 1'operates on a slope, it is necessary not only to keep the height of the support 302 'constant but also to keep the inclination horizontal. In this respect, the support 302' is spherically slid. It is a bearing (spherical bush), and its upper end surface can be tilted in all directions of 360 ° around the rod 301 '. Therefore, if each attachment is kept at the same height, the weight of the object to be transported will cause each support stand to move. 302 'is automatically kept horizontal by inclining in the ascending direction of the slope.
【0036】本実施例の搬送装置を用いて搬送対象物資
を搬送、据付けする手順については、第1の実施例のエ
アジャッキ301を本実施例のスクリュージャッキ30
0´に代え、支持台300を本実施例の支持台302´
に代えれば、図5乃至9を参照してすでに説明した第1
の実施例の搬送装置を用いて搬送対象物資を搬送、据付
けする手順と同様であり説明を省略する。
Regarding the procedure for carrying and installing the material to be carried using the carrying device of the present embodiment, the air jack 301 of the first embodiment and the screw jack 30 of the present embodiment are used.
Instead of 0 ', the support base 300 is replaced by the support base 302' of this embodiment.
Instead of the first one already described with reference to FIGS.
The procedure for carrying and installing the material to be carried using the carrying device of the embodiment is the same as that of the procedure, and the description thereof will be omitted.
【0037】連結フレーム9は図13に示した形状のも
の以外にも搬送対象物資5の大きさ、形状などに合わせ
て種々の形状のものを用いることができる。また、搬送
対象物資5の傾きについて神経質にならなくてもよい局
面(運行途上に傾斜の急な斜面がなかったり、搬送対象
物資5の重心が低い場合など)では支持台302´を下
げて、台座303´で直接搬送対象物資5を支えて搬送
することもできる。この場合、搬送対象物資5と台座3
03´とを固定すれば、連結フレーム9は不要となる。
図14は本実施例のアタッチメントの第2の例を示すも
のであり、この第2の例としてのボート用台座10の斜
視図である。このボート用台座10は本実施例の搬送装
置でボートを搬送するときに用いるものであり、上述の
連結フレーム9と併用する。すなわち、上述のように支
持台302´で直接搬送対象物資(この場合はボート)
を支持するのではなく、ボート用台座10を各支持台3
02´上に図14に示すとおり固定して、ボート用台座
10で図示しないボートを支持して搬送するためのアタ
ッチメントである。この場合においても、搬送中の図示
しないボートの傾きに神経質にならなくてもよい局面で
は、支持台302´を下げ、ボート用台座10を台座3
03´に固定して連結フレーム9を省くこともできる。
The connecting frame 9 may have various shapes other than the shape shown in FIG. 13 according to the size and shape of the material 5 to be conveyed. In addition, when there is no need to be nervous about the inclination of the material 5 to be transported (such as when there is no steep slope during operation or when the center of gravity of the material 5 to be transported is low), the support base 302 ′ is lowered, It is also possible to directly support the material 5 to be transported by the pedestal 303 'and transport it. In this case, the material 5 to be transported and the pedestal 3
If 03 'is fixed, the connecting frame 9 becomes unnecessary.
FIG. 14 shows a second example of the attachment of this embodiment, and is a perspective view of the boat pedestal 10 as the second example. The boat pedestal 10 is used when the boat is transported by the transport device of this embodiment, and is used together with the connecting frame 9 described above. That is, as described above, the material to be directly transported (boat in this case) on the support base 302 '.
Instead of supporting the boat pedestal 10,
This is an attachment that is fixed on 02 ′ as shown in FIG. 14 and that supports and transports a boat (not shown) by the boat pedestal 10. Also in this case, when it is not necessary to be nervous about the inclination of the boat (not shown) during transportation, the support base 302 ′ is lowered and the boat pedestal 10 is fixed to the pedestal 3.
It is also possible to fix it to 03 'and omit the connecting frame 9.
【0038】次に、本実施例の作用について説明する。
本実施例の搬送装置によれば、第1の実施例と同様に搬
送対象物資5の搬送、物資の据付け位置決め、据付けま
でを支点取りなどの煩雑な作業なしに容易に行うことが
できる。また、斜面上などを搬送する場合も段取替え等
なしに搬送対象物資5の搬送が行え、この点でも搬送作
業が容易となる。さらに、遠隔操作により搬送対象物資
5の搬送、物資の据付け位置決め、据付けまでを行え、
搬送対象物資5の下で機器操作をする必要もなく、作業
者の安全が図られる。
Next, the operation of this embodiment will be described.
According to the carrying apparatus of this embodiment, similarly to the first embodiment, the carrying of the material 5 to be carried, the positioning of the material, and the installation can be easily carried out without complicated operations such as fulcrum picking. In addition, when carrying on a slope or the like, it is possible to carry the material 5 to be carried without changeover and the like, which also facilitates the carrying work. Furthermore, by remote operation, it is possible to carry the material 5 to be transported, install and position the material, and install.
It is not necessary to operate the equipment under the material 5 to be transported, and the safety of the operator can be achieved.
【0039】搬送車1´の旋回、直進走行時には、台座
303´の台車2´に対する回転角度を一定に保つ必要
があるが、これを2つの駆動ローラ200の回転速度制
御だけで保とうとすると両駆動ローラ200の回転速度
の検出と、台座303´と台車2´との間の回転角度を
常時検出し、高速な演算処理を行ないながら、駆動ロー
ラ200の速度を制御する必要があるため、制御入出力
点数が増加するとともに、複数台の搬送車1´を同調制
御させて運転するために、非常に高速な処理、制御を行
なわないと、蛇行したり、各搬送車1´の運航方向の不
統一により搬送車1´が外れて搬送対象物資を落下させ
てしまいかねない。
When the carrier 1'turns or travels straight ahead, it is necessary to keep the rotation angle of the pedestal 303 'relative to the trolley 2'constant. Since the rotation speed of the drive roller 200 and the rotation angle between the pedestal 303 ′ and the trolley 2 ′ are constantly detected and the speed of the drive roller 200 needs to be controlled while performing high-speed arithmetic processing, As the number of input / output points increases, multiple vehicles 1'are operated in synchronization with each other. Therefore, unless very high-speed processing and control are performed, the vehicle will meander or move in the operating direction of each vehicle 1 '. Due to non-uniformity, the carrier 1'may come off and the material to be transported may drop.
【0040】そこで、本実施例では、ロータリーエンコ
ーダ309´の下部に図示しない電磁ブレーキを設けて
おり、台座303´の台車2´に対する回転を停止でき
るから、旋回、直進走行時には設定された回転角度で台
座303´の台車2´に対する回転を停止させておけ
ば、台座303´と台車2´との角度は一定にたもたれ
るため、駆動ローラ200の回転速度検出を省くことが
できる(オープンループ制御で対応することも考えられ
る)。また、回転角度を直進、旋回運行中に常時検出す
る必要もなくなり、制御入出力点数の減少が図れ、比較
的低速の演算処理速度で対応できることにより、比較的
簡単な制御装置で各搬送車2´間の同調運転が可能であ
る。
Therefore, in the present embodiment, an electromagnetic brake (not shown) is provided below the rotary encoder 309 'to stop the rotation of the pedestal 303' with respect to the trolley 2 '. By stopping the rotation of the pedestal 303 ′ with respect to the trolley 2 ′, the angle between the pedestal 303 ′ and the trolley 2 ′ leans against a constant angle, so that the detection of the rotation speed of the drive roller 200 can be omitted (open loop control). It is also possible to deal with). Further, it is not necessary to constantly detect the rotation angle during the straight traveling or turning operation, the number of control input / output points can be reduced, and the processing speed can be relatively low, so that each transport vehicle 2 can be operated with a relatively simple control device. It is possible to perform synchronized operation between ´.
【0041】さらに、本実施例では、第1の実施例のよ
うに台車2上に大型のエアジャッキ301を設ける必要
がないため、搬送車2´の重心を低くすることができ、
運行の安全性を高めることができる。そのうえ、第1の
実施例のように台車2上に大型のエアジャッキ301を
台車2と別体で載せる構造ではなく、スクリュージャッ
キ300´を台車2内に設置しているため、エアジャッ
キ301のように水平過重にたいして図示しないアタッ
チメントがゆれ動きにくく、安定した運行が可能とな
る。
Further, in this embodiment, it is not necessary to provide the large air jack 301 on the carriage 2 as in the first embodiment, so that the center of gravity of the carrier 2'can be lowered.
The safety of operation can be improved. Moreover, the screw jack 300 ′ is installed in the trolley 2 instead of the structure in which the large air jack 301 is mounted on the trolley 2 separately from the trolley 2 as in the first embodiment. As described above, the attachment (not shown) does not easily shake against horizontal overload, which enables stable operation.
【0042】[0042]
【発明の効果】以上説明した本発明の搬送装置によれ
ば、搬送対象物資の搬送、物資の据付け位置決め、据付
けまでを支点取りなどの煩雑な作業なしに容易に行うこ
とができる。
According to the above-described transporting apparatus of the present invention, it is possible to easily transport a material to be transported, install and position the material, and perform installation without complicated operations such as fulcrum picking.
【0043】また、前記の水平保持手段を備えている場
合は、斜面上などを搬送する場合も段取替え等なしに搬
送対象物資の搬送が行え、この点でも搬送作業が容易と
なる。
Further, when the above-mentioned horizontal holding means is provided, the material to be transported can be transported without changing the setup even when transporting on a slope or the like, which also facilitates the transportation work.
【0044】さらに、前記の遠隔操作手段を備えている
場合は、遠隔操作により搬送対象物資の搬送、物資の据
付け位置決め、据付けまでを行え、搬送対象物資の下で
機器操作をする必要もなく、作業者の安全が図られる。
Further, when the remote operation means is provided, it is possible to perform the transfer of the material to be transferred, the positioning and installation of the material, and the installation by remote operation, and it is not necessary to operate the equipment under the object to be transferred. Worker safety is achieved.
【図面の簡単な説明】[Brief description of drawings]
【図1】本発明の第1の実施例である搬送装置の搬送車
の左側面図である。
FIG. 1 is a left side view of a carrier vehicle of a carrier device according to a first embodiment of the present invention.
【図2】本発明の第1の実施例である搬送装置の搬送車
の底面図である。
FIG. 2 is a bottom view of the carrier vehicle of the carrier device according to the first embodiment of the present invention.
【図3】本発明の第1の実施例である搬送装置の搬送車
の背面図である。
FIG. 3 is a rear view of the carrier vehicle of the carrier device according to the first embodiment of the present invention.
【図4】本発明の第1の実施例に用いる搬送車に高揚程
電動ジャッキを設けた場合を示す図であり、(a)はこ
の搬送車の左側面図、(b)は搬送車の台車部分を示す
図である。
4A and 4B are diagrams showing a case where a high-lift electric jack is provided in a carrier vehicle used in the first embodiment of the present invention, FIG. 4A is a left side view of the carrier vehicle, and FIG. It is a figure which shows a trolley | bogie part.
【図5】本発明の第1の実施例である搬送装置で搬送対
象物資を搬送する場合の手順を説明する図である。
FIG. 5 is a diagram illustrating a procedure for carrying a material to be carried by the carrying device according to the first embodiment of the present invention.
【図6】本発明の第1の実施例である搬送装置で搬送対
象物資を搬送する場合の動作を説明する図である。
FIG. 6 is a diagram for explaining an operation when a transport target material is transported by the transport device according to the first embodiment of the present invention.
【図7】本発明の第1の実施例である搬送装置で搬送対
象物資を搬送する場合の動作を説明する図である。
FIG. 7 is a diagram for explaining the operation when the object to be conveyed is conveyed by the conveying device according to the first embodiment of the present invention.
【図8】本発明の第1の実施例である搬送装置で搬送対
象物資を搬送する場合の動作を説明する図である。
FIG. 8 is a diagram for explaining an operation when a transport target material is transported by the transport device according to the first embodiment of the present invention.
【図9】本発明の第1の実施例である搬送装置で搬送対
象物資を搬送する場合の動作を説明する図である。
FIG. 9 is a diagram for explaining an operation when the object to be transferred is transferred by the transfer device according to the first embodiment of the present invention.
【図10】本発明の第2の実施例である搬送装置の搬送
車の正面図である。
FIG. 10 is a front view of a carrier vehicle of the carrier device according to the second embodiment of the present invention.
【図11】本発明の第2の実施例である搬送装置の搬送
車の断面図である。
FIG. 11 is a sectional view of a carrier vehicle of a carrier device according to a second embodiment of the present invention.
【図12】本発明の第2の実施例である搬送装置の搬送
車の平面図である。
FIG. 12 is a plan view of a carrier vehicle of a carrier device according to a second embodiment of the present invention.
【図13】本発明の第2の実施例である搬送装置に用い
る連結フレームで結合された複数の搬送車の平面図であ
る。
FIG. 13 is a plan view of a plurality of transport vehicles connected by a connecting frame used in the transport apparatus according to the second embodiment of the present invention.
【図14】本発明の第2の実施例である搬送装置に用い
るボート用台座の斜視図である。
FIG. 14 is a perspective view of a boat pedestal used in a carrier device according to a second embodiment of the present invention.
【符号の説明】[Explanation of symbols]
1、1´ 搬送車 2 台車 204 支点軸 300 支持台 301 エアジャッキ 302´ 支持台 303´ 台座 305´ スクリュージャッキ 1, 1'transportation vehicle 2 dolly 204 fulcrum shaft 300 support pedestal 301 air jack 302 'support pedestal 303' pedestal 305 'screw jack

Claims (3)

    【特許請求の範囲】[Claims]
  1. 【請求項1】 搬送対象物資を支持する支持台を有し前
    記搬送対象物資を前記支持台上に載置して運行する複数
    の搬送車と、該複数の搬送車の支持台を昇降する昇降手
    段と、該各搬送車の運行のスピードと進行方向とを同調
    制御して前記各支持台上に前記搬送対象物資を載置して
    支持したまま前記各支持台の相対位置を一定に保持しつ
    つ前記複数の搬送車の運行を行わせる運行制御手段とを
    備えた搬送装置。
    1. A plurality of transport vehicles which have a support base for supporting the transport target materials and operate by placing the transport target materials on the support base, and lifting and lowering the support bases of the plurality of transport vehicles. Means for controlling the traveling speed and traveling direction of each of the transport vehicles to hold the relative position of each of the support bases constant while mounting and supporting the material to be transported on each of the support bases. At the same time, a carrier device comprising an operation control means for causing the plurality of carrier vehicles to operate.
  2. 【請求項2】 前記運行を斜面や起伏、うねりのある路
    面で行うときに前記各支持台を一定高さに水平に保つ水
    平保持手段を備えた請求項1項記載の搬送装置。
    2. The transfer device according to claim 1, further comprising horizontal holding means for holding each of the supports horizontally at a constant height when the operation is performed on a road surface having a slope, ups and downs, and undulations.
  3. 【請求項3】 前記運行と昇降とを遠隔操作により行う
    遠隔操作手段を備えた請求項1項または2項記載の搬送
    装置。
    3. The carrier device according to claim 1, further comprising a remote control means for remotely controlling the operation and the lifting.
JP24706293A 1992-10-02 1993-10-01 Transfer device Expired - Lifetime JP3525260B2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP26494592 1992-10-02
JP4-264945 1992-10-02
JP24706293A JP3525260B2 (en) 1992-10-02 1993-10-01 Transfer device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP24706293A JP3525260B2 (en) 1992-10-02 1993-10-01 Transfer device

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2002201610A Division JP2003146591A (en) 1992-10-02 2002-07-10 Conveying method for middle weight substance

Publications (2)

Publication Number Publication Date
JPH06206613A true JPH06206613A (en) 1994-07-26
JP3525260B2 JP3525260B2 (en) 2004-05-10

Family

ID=26538041

Family Applications (1)

Application Number Title Priority Date Filing Date
JP24706293A Expired - Lifetime JP3525260B2 (en) 1992-10-02 1993-10-01 Transfer device

Country Status (1)

Country Link
JP (1) JP3525260B2 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002120992A (en) * 2000-10-13 2002-04-23 Kayaba Ind Co Ltd Hydraulic jack
JP2011079423A (en) * 2009-10-07 2011-04-21 Sankyu Inc Carriage, and conveying device and method
JP2011079435A (en) * 2009-10-07 2011-04-21 Sankyu Inc Wheel and wheeled platform
JP2015095987A (en) * 2013-11-13 2015-05-18 株式会社デンソー Composite travel body

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5485643B2 (en) * 2009-10-07 2014-05-07 山九株式会社 Control device for transfer device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002120992A (en) * 2000-10-13 2002-04-23 Kayaba Ind Co Ltd Hydraulic jack
JP2011079423A (en) * 2009-10-07 2011-04-21 Sankyu Inc Carriage, and conveying device and method
JP2011079435A (en) * 2009-10-07 2011-04-21 Sankyu Inc Wheel and wheeled platform
JP2015095987A (en) * 2013-11-13 2015-05-18 株式会社デンソー Composite travel body
WO2015072087A1 (en) * 2013-11-13 2015-05-21 株式会社デンソー Combined traveling body

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