JPH08175798A - Carrier vehicle - Google Patents

Abstract

PURPOSE: To speedily and easily carry out transportation and installation of a heavy article in a narrow place in a continuous operation by furnishing a placing base provided on a lower part of a vehicle main body free to slide and to place a transported objective article on a part sliding and projecting to one or the other side in a direction crossing the longitudinal direction of this vehicle. CONSTITUTION: Outsides of four placing bases 19a-19d and a vehicle main body 2 are installed free to expand and contract by a main body side sliding leg 41 fixed on the vehicle main body side, a placing base side sliding leg 42 fixed on the side of the placing bases 19 and a common sliding leg 43 and intermediate sliding parts 44, 45 provided between the sliding legs 41, 42 and free to slide each other. Additionally, the placing bases 19a and 19b, 19c and 19d are installed free to separate from each other or to apprach each other in the arrow 9 direction by the placing base side sliding legs 42, 42' and the common sliding legs 43, 47. It is possible to easily move the four placing bases 19a-19d and a carrier unit 22 of each of the placing bases to a place where a transported objective article is positioned by storing them compact.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer vehicle suitable for transferring and installing medium-weight or heavy objects, and more particularly to a transfer vehicle suitable for transferring an object to be transferred in a narrow space.

[0002]

2. Description of the Related Art Conventionally, medium or heavy materials, especially 3 to
As a carrier device for carrying a medium-weight material of about 20 tons, for example, the carrier devices shown in FIGS. 15 and 16 are known. This is disclosed in Japanese Patent Laid-Open No. 6-206613 by the applicant of the present application, and when a conventional overhead crane cannot be used, a roller, a chill tank, a jack, a forklift, etc. are used, but an incidental work by hand is required. Due to the large amount of work, the efficiency was poor and the safety was low. In order to solve such a problem, the transport device of the above publication was invented.

FIG. 15 shows the above-mentioned conventional conveying apparatus. The carrier device 100 includes a carrier unit 101, for example, 3 units.
3 to 4 are provided as a set, and the respective air stands 106 of the 3 to 4 carrier units 101 raise the respective support stands 105 to a uniform height.
The one to-be-conveyed object 111 is supported by the four support bases 105. Incidentally, in FIG. 15, reference numeral 112
Is a stand, and 113 is a floor.

FIG. 16 shows a carrying unit used in the carrying device, and the carrying unit 101 is provided with a carriage 102 and an air jack 106. Drive wheel 1 for truck 102
08 and free wheels 109 are provided, and drive wheels 108
Is provided in one transport unit 101, and each drive wheel 108 is driven by a drive device 110, which is a motor with a reduction gear, to drive the transport unit 101. The free wheel 109 is provided on the carriage 102 so as to be rotatable around a support shaft 109a.

[0005]

However, in the conventional carrying apparatus 100, in order to deal with objects of various shapes to be carried, an attachment matching the object 111 to be carried must be attached to the carrying unit 101. It was Therefore, the transport device 100 itself becomes large and it is difficult to work in a narrow space. On the other hand, the transfer target 111
If the weight is 10 tons or more, it is difficult to carry it by a forklift.

It is an object of the present invention to provide a transportation vehicle which is capable of quickly and easily carrying heavy objects in a narrow place and installing them as an integrated work, and which is efficient and highly safe.

[0007]

In order to solve the above-mentioned problems, a transport vehicle according to the present invention is provided with a transport unit having drive wheels driven by a drive device and transports an object to be transported. A mounting table that is slidably provided in a lower portion of a vehicle body of a vehicle and that places an object to be transported on a portion that is slidably projected to one side or the other side in a direction intersecting the longitudinal direction of the vehicle body. And a transfer unit provided under the mounting table for supporting and operating the vehicle body and the transfer target, and an elevating unit for mounting and mounting the transfer target provided on the mounting table to elevate the transfer target during installation and installation. And means for mounting and supporting the object to be transported on the mounting table to control the operation speed and the traveling direction of the transfer unit in synchronization with each other to control the operation of the transfer unit.

Further, in the above invention, at least one set of the mounting table and the transfer unit provided under the mounting table are provided in a direction intersecting with the longitudinal direction of the vehicle body, and a plurality of them are arranged at predetermined intervals in the longitudinal direction. They are provided in pairs.

Further, in any one of the above inventions, the transport unit sandwiches a central axis in a direction perpendicular to drive wheels provided opposite to each other with the central axis interposed therebetween and each having a separate drive device. And at least two free wheels provided in 1.

In any one of the above-mentioned inventions, the vehicle main body is provided with a crane for mounting the object to be transported on the mounting table or installing from the mounting table and a driver's seat for operating the transportation vehicle. .

[0011]

The transport vehicle of the present invention is slidably provided at the lower portion of the vehicle body of the transport vehicle and slidably projects to one side or the other side in the direction intersecting the longitudinal direction of the vehicle body. Since the mounting table for mounting the object to be transported is provided in the part to be
By approaching the object to be conveyed in a narrow place and projecting the placing table, the placing table can be positioned below the object to be conveyed placed on the table. A transport unit that is provided under the mounting table to support and operate the vehicle body and the transportation target, and an elevating unit that is mounted on the mounting table and that moves the transportation target up and down when the transportation target is placed and installed. Since it is provided with, the object to be transported can be lifted away from the table, placed on the table, and operated. Further, since the object to be transported is placed and supported on the mounting table, and a control device for performing the operation of the transport unit by synchronously controlling the operation speed and the traveling direction of the transport unit is provided. There is no imbalance between speed and direction of travel.

Further, in the above invention, at least one set of the mounting table and the transfer unit are provided in a direction intersecting the longitudinal direction of the vehicle body, and a plurality of sets are provided at a predetermined interval in the longitudinal direction. In addition to the operation of the above-described invention, it is possible to place the object to be conveyed on either side of the conveyance vehicle or the other side of the conveyance vehicle, and the conveyance unit that supports the vehicle body and the conveyance unit that supports the conveyance object can be mounted. It can be used for both, it can slide to any position depending on the place and load condition, stable transportation, operation and installation can be done, and the lower mechanism of the vehicle body is simple and miniaturization is possible. Reduce operating costs.

Further, in any one of the above-mentioned inventions, the transport unit sandwiches the central axis in a direction perpendicular to the drive wheels which are provided so as to face each other with the central axis interposed therebetween and each have a separate drive device. Since it has at least two free wheels provided in the above, in addition to the action of any one of the above inventions, the object to be conveyed is lifted and placed on the mounting table, and the front, rear, left and right, diagonal, arc and center turning are performed. It becomes possible to freely move, etc., and it becomes possible to carry, operate and install the object to be carried even in a narrow place.

In any one of the above-mentioned inventions, the vehicle main body is provided with a crane for loading or unloading an object to be transported on a mounting table and a driver's seat for operating the transportation vehicle. In addition to the operation of any one of the above-mentioned inventions, even when the placing table cannot be placed under the object to be conveyed, it can be hung by a crane and placed on the placing table. It becomes possible to drive.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a carrier vehicle according to the present invention will be described in detail below with reference to the drawings. 1 to 4 are views for explaining a first embodiment of a transfer vehicle according to the present invention, FIG. 5 is an explanatory view of a transfer unit used in a transfer vehicle according to an embodiment of the present invention, and FIG.
7A and 7B are views for explaining the sliding legs of the transport vehicle of the first embodiment.
6 is an enlarged view of a main part of the sliding leg of FIG. 6, FIG. 8 is a diagram of the sliding leg rack shown in FIG. 7 and an operating principle of the sliding rack, and FIG. 9 is a second embodiment of the transport vehicle according to the present invention. FIG. 10 is a diagram illustrating an example, FIG. 10 is a diagram illustrating sliding legs of the transport vehicle of the embodiment of FIG.
11 to 14 are views for explaining a third embodiment of the transport vehicle according to the present invention, respectively.

The transport vehicle 1 of the first embodiment is shown in FIGS. 1 to 4, and FIG. 1 shows a mounting table 19 of the transport vehicle 1 (hereinafter, reference numeral 19 is used when no specific mounting table is shown). , Reference numerals 19a, 19b ... Are used to indicate a specific mounting table) and a transport unit 22 as a set of four sets projected on one side 6, and FIG. 2 is a two-dot chain line. 4 is a plan view of a state in which four sets of the mounting table 19 and the transport unit 22 are stored in the lower portion of the vehicle body 2 shown in FIG. 3, and FIG. 4 is a plan view showing a state in which it is projected to the side 7 of FIG. 4, and FIG. 4 is a side view in which a set of the mounting table 19 and the transport unit 22 of the transport vehicle 1 is projected to the side 6 on one side.

The transport vehicle 1 of the first embodiment shown in FIG.
4 is slidably provided on the lower portion of the vehicle body 2 and is slidably projected to one side 6 of a direction 5 intersecting the longitudinal direction 4 of the vehicle body 2, as shown in FIG. Object 39
4 mounting bases 19 for mounting thereon, a transport unit 22 provided under each of the mounting bases 19 for supporting and operating the vehicle body 2 and the transport target 39, and provided at the center of each mounting base 19. When the object 39 to be transported is placed and installed, the object 39 to be transported 39
A diagram for placing the jack 37, which is an elevating means for moving up and down, and an object 39 to be conveyed, on the mounting table 19 and supporting the same so that the operation speed and the traveling direction of the transfer unit 22 are synchronously controlled to operate the transfer unit 22. And a control device (not shown).

The outer sides of the four mounting tables 19 and the vehicle body 2 are a body side sliding leg 41 fixed to the vehicle body 2 side and a mounting table side sliding leg 42 fixed to the mounting table 19 side. , And a common slide leg 43 and intermediate slide legs 44 and 45 which are provided between them and are slidable with respect to each other, are attached so as to be capable of expanding and contracting. Further, the mounting tables 19a and 19b, 19c and 19d are
The mounting table side sliding legs 42 and 42 'and the common sliding legs 43 and 47 are attached so as to be separated from or approaching each other in the direction of arrow 9.

In FIG. 2, four mounting bases 19a to 19d at the lower part of the vehicle body 2 shown by the chain double-dashed line and a transport unit 22 provided under each mounting base reduce a plurality of sliding legs. It is a top view of the state accommodated by the thing. By compactly accommodating the four mounting tables 19a to 19d and the transport unit 22 of each mounting platform, it is possible to easily move to the place where the object to be transported is located.

FIG. 3 shows the other side 7 of the transport vehicle 1.
2 is a plan view showing a state in which the mounting legs 19 and the transport unit 22 are moved by projecting the sliding legs, and the state is symmetrical with respect to the transport vehicle 1 with respect to the state in FIG. Since the structure of the sliding leg is the same as that in the case of FIG. 1, the same reference numerals are given to the same structures and acting portions, and the description thereof will be omitted.

FIG. 4 is a side view showing a state where the mounting table 19 and the transport unit 22 of the transport vehicle 1 of the embodiment shown in FIG. 1 are projected to one side 6. The object 39 to be conveyed is lifted by the jack 37 provided at the center of each mounting table 19. A transport unit 22 is provided below each mounting table 19. The vehicle body 2 is supported by two jacks 8 provided in front of and behind the vehicle body 2.

FIG. 5 is an explanatory view of the transport unit 22 used in the transport vehicle 1 of the embodiment of the present invention, (A) is a front view,
(B) is a side view. The transport unit 22 has a central shaft 2
3, a drive wheel 27 having a drive motor 28a and a speed reducer 28b, which are provided as opposed to each other with the drive motor 28a interposed therebetween, and a central axis 2 perpendicular to an axis 29 of the drive wheel 27.
3 and two free wheels 32 provided on both sides,
The two free wheels 32 are supported by the support shaft 33. The transport unit 22 is composed of a lower trolley 25 having a rectangular trolley frame 25a and a circular upper pedestal 35, both of which are connected via a fulcrum shaft 26,
The upper base 35 is fixed to the mounting table 19 and is rotatably connected to the lower carriage 25. Table 19
In connection between the carrier unit 22 and the carrier unit 22, the fulcrum shaft 26 of the carrier unit 22 can be directly connected to the mounting table 19 rotatably without using the pedestal 35.

FIG. 6 is a sectional view of the sliding legs of the carrier vehicle 1 of the embodiment shown in FIG. As described above, the sliding leg is provided between the main body side sliding leg 41 fixed to the vehicle main body 2 side, the mounting base side sliding leg 42 fixed to the mounting base 19 side, and provided between them. A common slide leg 43 and an intermediate slide leg 44 that are slidable with respect to each other,
And 45. Each sliding leg has one or two sliding frames. For example, the main body side sliding leg 41 has the sliding frame 41b, the intermediate sliding leg 44 has the sliding frames 44a and 44b, and the other sliding legs. The movable leg also has a similar configuration as shown.

The adjacent sliding legs are, for example, the intermediate sliding legs 4
As shown in FIG. 7, a linear thrust bearing 49 is built in between the sliding frame 44b on the side of the intermediate sliding leg 44 and the sliding frame 45a on the side of the intermediate sliding leg 45. Frame 4
Linear thrust bearing member 49 fixed to the 4b side
a and the linear thrust bearing member 49b fixed to the sliding frame 45a side. Furthermore, the sliding frame 44b
A rack 51 is fixed to the slide rack 52, and a slide rack 52 is fixed to the slide frame 45a via a holding frame 53 and a spring 54.
Is provided.

As shown in FIG. 8, the slide rack 52 moves in the direction of arrow 55 to be engaged and fixed to the rack 51 by the attraction force of a known electric solenoid (not shown), and when not energized, when energized, The slide rack 52 is opened away from the rack 51, and the intermediate slide legs 44 and 45 are
And become slidable with respect to each other.

Although not shown, the vehicle body 2 is a control system which is a control device for controlling the operation of the transport vehicle 1 and the placement, transport, installation, etc. of the transport target 39,
A battery system and a charging system, which are power supply devices, are provided. It is also possible to provide a crane for placing the object to be transported 39 on the mounting table 19 or lowering and mounting the object to be transported 39 from the mounting table 19 and a driver's seat for operating the transportation vehicle 1. Although not shown, front and rear of the vehicle body 2 are provided with a traveling warning lamp, lighting, an antenna for remote operation or communication communication, and the like. A controller, which is a device for transmitting a signal for remote control, may be provided outside the vehicle body 2.

The carrier vehicle 1 of the first embodiment having the above structure operates as follows. That is, the transport vehicle 1 is slidably provided below the vehicle body 2 of the transport vehicle 1,
Since the mounting table 19 for mounting the object 39 to be conveyed is provided at a portion which is slidably projected to one side 6 or the other side 7 in the direction intersecting the longitudinal direction 4 of the vehicle body 2, it can be installed in a narrow place. By approaching a certain object to be conveyed 39 and projecting the placing table 19 and the conveying unit 22, the placing table 19 and the conveying unit 22 can be positioned below the object to be conveyed 39 placed on the table.

A transport unit 22 provided below the mounting table 19 for supporting and operating the vehicle body 2 and the transportation target 39, and a mounting unit 19 mounted on the mounting table 19 for mounting and installation. Since the jack 37, which is an elevating means for raising and lowering the object to be conveyed 39, is provided, the object to be conveyed 39 can be lifted away from the table and placed on the table 19 for operation. Further, since the object to be conveyed 39 is placed and supported on the mounting table 19 and a control device for controlling the operation speed and the traveling direction of the transfer unit 22 to perform the operation of the transfer unit 22 is provided, each transfer is performed. It is possible to operate between the units 22 without causing an imbalance between speed and traveling direction.

Further, in the above embodiment, two sets of the mounting table 19 and the transport units 22 provided under the mounting table 19 are provided in a direction intersecting with the longitudinal direction 4 of the vehicle body 2.
Since a total of four sets are provided at a predetermined interval in the longitudinal direction 4, one side 6 or the other side 7 of the transport vehicle 1 is provided.
It is possible to place the object to be transported 39 on either side, and it can be used as both the carrier unit 22 that supports the vehicle body 2 and the carrier unit 22 that supports the object to be transported 39, depending on the location and load conditions. The position can be slid, stable transportation, operation and installation can be performed, and the lower mechanism of the vehicle body 2 can be simplified and miniaturized, which reduces the manufacturing and operating costs of the transportation vehicle 1.

Further, the transport unit 22 is provided so as to be opposed to each other with the central shaft 23 interposed therebetween, and drive wheels 27 each having a separate drive device, and provided with the central shaft 23 sandwiched in a direction perpendicular to the axis of the drive wheel 27. Since it has at least two free wheels 32 provided, the object to be conveyed 39 is lifted and placed on the mounting table 19, and the movement such as front and rear, left and right, diagonal, arc and center turning is free, and it is narrow. It becomes possible to transport, operate, and install the transport target 39 even at a place.

Further, as shown in FIG. 2, the transport vehicle 1 of the present embodiment is required in a state in which four sets of the mounting table 19 and the transport unit 22 are accommodated by reducing a plurality of sliding legs. You can run, steer and stop in various places,
After stopping, first fix the vehicle body 2 with the two jacks 8,
The four sets of the mounting table 19 and the transport unit 22 are moved straight in a direction intersecting the longitudinal direction 4 of the vehicle body 2. In the middle,
The two transport units 22 on the vehicle body 2 side are braked or the drive wheels 27 are turned 90 degrees to bring them into a braking state.
Next, the two outer transport units 22 are moved straight to the state shown in FIG. 1, and the transport object 39 is lifted and placed on the four mounting tables 19. Next, in this state, the two jacks 8 of the vehicle main body 2 are housed, and are operated and transported to a predetermined place. When the vehicle reaches the predetermined destination, the transport unit 22 is put into a braking state, the vehicle body 2 is supported and fixed by the two jacks 8, and the transport object is installed. or,
The sliding leg can slide and be fixed at any position depending on the place and the load condition.

As described above, the transport vehicle 1 of the first embodiment
Is provided with a total of four sets of one mounting table 19 and a transport unit 22 provided therebelow.
While supporting the object to be transported 39, the speed and direction of each transport unit 22 are synchronously controlled to operate. The speed control of each of the transport units 22 is controlled by an output pulse of a rotary encoder (not shown) provided at the turning center of each of the transport units 22, and the speed of the transport units 22 is controlled between, for example, the bogie frame 25a and the pedestal 35. It is controlled by the output of a strain sensor (not shown) provided between them. Since these controls require high-speed responsiveness and flexibility not depending on a program, a publicly known high-speed control system or fuzzy control system is used. The above-described operation of each transport unit 22 can be performed by remote control by a known means.

Further, since the control system which is a control device for controlling the transfer unit 22 is provided, the transfer vehicle 1 lifts the transfer target object 39 and places it on the mounting table, and the front and rear, left and right, oblique, arc and center. It becomes possible to move the object to be conveyed 39 to a predetermined place by controlling the operation speed and the traveling direction of each conveying unit 22 in a synchronized manner.

FIG. 9 is a plan view illustrating a second embodiment of the carrier vehicle according to the present invention, and FIG. 10 is a sectional view of sliding legs of the carrier vehicle of the embodiment of FIG. Transport vehicle 1 of the second embodiment
In comparison with the carrier vehicle 1 of the first embodiment shown in FIGS. 1 to 4, an intermediate slide leg is added. That is, as shown in FIG. 9, an intermediate sliding leg 46 provided between the common sliding leg 43 and the mounting table side sliding leg 42 or between the common sliding leg 47 and the mounting table side sliding leg 42 ′. The intermediate sliding leg 46 'provided in the above is added. By adding the intermediate slide leg 46 and the intermediate slide leg 46 ′, the mounting tables 19 a and 19 b and the mounting table 19 c with the transport unit in the direction of arrow 9 based on the common sliding leg 43 and the common sliding leg 47 are provided. The sliding distance of 19d becomes large, and the width corresponding to the size of the object to be conveyed, the arrangement location, and the like is widened. Other structures and working portions in FIGS. 9 and 10 that are the same as those in FIGS. 1 to 8 are denoted by the same reference numerals and the description thereof will be omitted.

11 to 14 are views for explaining a third embodiment of the carrier vehicle according to the present invention. First, the carrier vehicle 1 will be described with reference to FIGS. Transport vehicle 1 of the third embodiment
Conveys the conveyance object 39 shown by the chain double-dashed line in FIG. A portion that is slidably provided on the lower portion 3 of the vehicle body 2 of the transport vehicle 1 and that slides and projects on one side 6 or the other side 7 of the direction 5 intersecting the longitudinal direction 4 of the vehicle body 2. The mounting table 19 on which the object 39 to be conveyed is mounted, and each mounting table 1
9, a total of four transport units 22 that are provided below the vehicle body 9 and that support the vehicle body 2 and the transport target 39 via the mounting table 19 to operate, and a transport target 22 that is mounted on the mounting platform 19 The jack 37, which is an elevating means for raising and lowering the object to be conveyed 39 during installation, and the object to be conveyed 39 are placed and supported on the mounting table 19 to synchronously control the speed and direction of travel of the conveying unit 22. It is provided with a control system 10 which is a control device provided in the vehicle main body 2 for operating the vehicle.

Further, since the structure of the carrying unit 22 is the same as that shown in FIG. 5 used in the first embodiment described above, the same structure and acting parts are given the same reference numerals. And its description is omitted.

The jack 37 is a mounting table 19 in this embodiment.
Four of them are attached to each of the support frames 20 and are provided so as to be vertically movable. The lifting stroke of the jack 37 of this embodiment is 40 mm, and a known electromechanical type or hydraulic type is used. In addition, the vehicle main body 2 mounts the object to be transported 39 on the mounting table 19 and installs it on the crane 12
And a driver's seat 15 for operating the transport vehicle 1. The crane 12 is detachably attached to the vehicle body 2 and includes an outrigger 13, and when the crane 12 is used, the crane 12 extends outward to improve stability of the crane 12.

FIG. 13 is a front view of the transport vehicle 1 shown in FIG. The vehicle body 2 includes a control system 10 which is a control device, a battery system 17 and a charging system 18 which are power supply devices, and the crane 1 described above.
2 and a driver's seat 15. Front and rear of the vehicle body 2 are provided with a traveling warning lamp 14b, an illumination 14a shown in FIG. 11, and an antenna 11 for remote operation or for communication communication. The controller 10a is provided outside the vehicle body 2 and is a device that transmits a signal for the remote operation. In other components, the same structure and function as those in FIGS. 11 and 12 are designated by the same reference numerals, and the description thereof will be omitted.

FIG. 14 is a side view of the carrier vehicle 1 of FIG. A mounting table 19 is provided on the lower portion 3 of the vehicle body 2 so as to be slidable with respect to the vehicle body 2. The mounting table 19 slides on one side 6 of the transport vehicle 1 and the transport target object 39 is mounted on the projecting platform 19. Placed. Below each mounting table 19, there are two transport units 22.
It is provided one by one.

The mounting table 19 is slidably attached to the vehicle body 2, and its mechanism is, for example, a mechanism in which the mounting table 19 slides in a sliding frame attached to the vehicle body 2. It is also possible to use a mechanism that rolls the roller attached to the mounting table 19 in a sliding frame attached to the vehicle body 2, or a known mechanism using a rack and pinion or a linear slide bearing. The mechanism used may be used. In other structural parts, the same structures and operating parts as those in FIGS. 11 to 13 are designated by the same reference numerals, and the description thereof will be omitted.

The carrier vehicle 1 of the third embodiment having the above construction operates as follows. That is, it is slidably provided on the lower portion 3 of the vehicle body 2 of the transport vehicle 1 shown in FIG. 11, and is provided on one side 6 (or the other side 7) of the direction 5 intersecting the longitudinal direction 4 of the vehicle body 2. Figure 1
Since the mounting table 19 for mounting the conveyance target 39 shown in 2 and 14 is provided, the conveyance target 39 (not shown) in a narrow space is provided.
By approaching the table and projecting the mounting table 19 together with the transport unit 22, the transport unit 22 and the mounting table 19 can be positioned below the object to be transported 39 placed on a table (not shown). Since the mounting table 19 is provided with the jack 37 which is the elevating means, the object 39 to be conveyed is lifted away from the table, then moved to a place apart from the table, and the jack 37 is lowered to place the object to be transferred. It can be placed on 19.

Next, the transport unit 22 shown in FIG.
Motor 2 with two drive wheels 27 with speed reducer 29b
Since they are separately driven and controlled by 8a, each of the straight traveling, steering, and turning operations is performed depending on the difference in the rotational speed of the drive wheels 27. That is, when driving straight ahead, both drive wheels 27 are driven at the same speed. Further, at the time of steering operation, one of the driving wheels 27 is stopped or decelerated and the other is driven to perform steering operation. During turning operation, both drive wheels 27 are rotationally driven in opposite directions.

The transport vehicle 1 according to the third embodiment has two transport units 22 having the above-described structure on one mounting table 19,
Since a total of four units are provided and the control system 10 that is a control device for controlling the transport unit 22 is further provided, the transport target object 39 is lifted and placed on the mounting table, and the speed and traveling direction of each transport unit 22 are synchronously controlled. As a result, it is possible to move back and forth, left and right, diagonally, arcuately, and to rotate the center, and the object 39 can be moved to a predetermined place. The speed control of each transport unit 22 is performed by
Is controlled by an output pulse of a rotary encoder (not shown) provided at the center of turning, and the speed control between the transport units 22 is controlled by the output of a strain sensor (not shown) provided between the bogie frame 25a and the pedestal 35, for example. To do. Since these controls require high-speed responsiveness and flexibility not depending on a program, a publicly known high-speed control system or fuzzy control system is used. Each transport unit 2
The above-mentioned operation of 2 can also be performed by remote control by known means.

Further, as shown in FIG. 12 or 14, the two mounting tables 19 have two transfer units 22 in each of the directions 5 intersecting the longitudinal direction 4 of the vehicle body 2 and the two mounting tables 19 are provided. Are provided at a predetermined distance from each other in the longitudinal direction, and even if one side 6 or the other side 7 of the transport vehicle 1 has the transport target 39, the transport target 39 has the same side. The mounting table 19 can be projected and mounted, and can be used both for supporting the vehicle main body and for supporting an object to be transported, and can be slid to an arbitrary position depending on a place and a load condition, which is stable. Transport, operation and installation are possible.

Then, as shown in FIG. 11 or 13,
In the transport vehicle 1 of the present embodiment, the transport target 39 is placed on the mounting table 19.
Since the crane 12 for mounting the transfer target object 39 at a predetermined place on the mounting table 19 or the driver's seat 15 for operating the transfer vehicle 1 is provided, the transfer target object 39 is provided below the transfer target object 39. Even when the mounting table 19 cannot be positioned, it can be suspended and mounted on the mounting table 19, and the transportation vehicle 1 can be operated while riding on the transportation vehicle 1.
It is also relatively light and enables the transport of a small transport object 39. Further, since the transportation to the destination can be freely performed by operating the driver's seat 15 of the transportation vehicle 1, the transportation and the installation can be performed to a certain distance, and various transportation objects can be handled.

Further, in FIG. 12, a white line 40 serves as a guide for automatic traveling of the transport vehicle 1. The specifications of the carrier vehicle 1 of this embodiment are as follows.

Loading load: 10 tons, traveling speed: 0 to 18 m / min (5-step arbitrary speed change, MAX when empty) Drive method AC servo motor (100 W × 8 units) or induction motor control method Servo drive (tuning control method) or Inverter control traveling function Front / rear, left / right, diagonal, arc, center turning Lift function Loading range (stroke 40mm) Lift method Electric screw jack Power supply specification DC supply method (built-in battery) Lifting device Detachable crane (1.9t) operation Method Handy switch panel method Others Obstacle detection / stop function, white line (white line) automatic follow-up function equipped The present invention has been described in detail with reference to the embodiments shown in the drawings. For example, some or all of the drive wheels may be used to drive the transport unit 22. It is not necessary to use it, but it may be a normal large wheel. In short, it goes without saying that various modifications can be made by making various modifications without departing from the spirit of the present invention.

[0048]

According to the present invention, the lower portion of the vehicle main body is provided with the placing table for placing the object to be conveyed on the portion which is slidably projected to one side or the other side in the direction intersecting the longitudinal direction. Therefore, the object to be transported in a narrow space can be placed and transported on either side of the transportation vehicle for installation work. Since the carrying unit and the raising / lowering means are provided on the placing table under the placing table, the object to be conveyed can be lifted away from the table and placed on the placing table for operation. Further, since the control device for synchronously controlling the traveling speed and the traveling direction of the transport unit is provided, an imbalance between the transport unit and the traveling direction does not occur between the transport units.

Further, in the above invention, at least one set of the mounting table and the transfer unit provided below the mounting table are provided in a direction intersecting with the longitudinal direction of the vehicle body, and a plurality of them are arranged at predetermined intervals in the longitudinal direction. Since they are provided as a set, in addition to the effects of the invention described above, it is possible to place the object to be conveyed on either side of the conveyance vehicle or on the other side, and a mounting table that supports the vehicle body and It can be used as both a carrier unit and a mounting table that supports the object to be transported, and a carrier unit, enabling stable carrier operation, operation, and installation.
The lower mechanism of the vehicle body can be simplified and downsized, and the manufacturing and operating costs of the transport vehicle can be reduced.

Further, in any one of the above inventions, the transport unit has drive wheels each having a separate drive device opposed to each other with the central axis interposed therebetween, and at least two drive wheels having the central axis interposed perpendicularly to the axis of the drive wheels. In addition to the effect of any one of the above-mentioned inventions, the transport vehicle of the present invention has a free wheel at each location, and the transport vehicle of the present invention lifts and places the transport object on the mounting table, and the front, rear, left, right, diagonal, arc, and center Movement such as turning is free, and it becomes possible to carry, transport and install objects to be carried in a narrow space as an integrated work.

In any one of the above inventions, the vehicle main body is provided with a crane for placing or installing an object to be conveyed on a mounting table and a driver's seat for operating the conveying vehicle. In addition to the effects of the invention, even when the placing table cannot be located under the object to be conveyed, the object to be conveyed can be hung and placed on the table, and the vehicle can be operated while riding on the vehicle. It is possible to carry out a long distance transfer and installation, and it becomes possible to transfer various objects to be transferred.

Further, the transport vehicle of the present invention is miniaturized,
The center of gravity is low, and safety is excellent by remote control.

[Brief description of drawings]

FIG. 1 shows a first embodiment of a transport vehicle according to the present invention,
It is a top view of the state where the mounting base of a conveyance vehicle and a conveyance unit projected to one side.

FIG. 2 is a plan view showing a state in which a mounting table and a transport unit of the transport vehicle of the embodiment of FIG. 1 are stored under a vehicle body.

FIG. 3 is a plan view showing a state where the mounting table and the transport unit of the transport vehicle of the embodiment of FIG. 1 are projected to the other side.

FIG. 4 is a side view showing a state where the mounting table and the transport unit of the transport vehicle of the embodiment of FIG. 1 are projected to one side.

5A and 5B are a transport unit used in the transport vehicle of the present embodiment, where FIG. 5A is a front view and FIG. 5B is a side view.

FIG. 6 is a cross-sectional view of sliding legs of the transport vehicle of the embodiment of FIG.

7 is an enlarged sectional view of a main part of the sliding leg of FIG.

FIG. 8 is a plan view for explaining the operation principle of the slide leg rack and the slide rack shown in FIG.

FIG. 9 shows a second embodiment of the transport vehicle according to the present invention,
It is a top view of the state where the mounting base of a conveyance vehicle, and a conveyance unit projected to the other side.

10 is a sectional view of a sliding leg of the transport vehicle of the embodiment of FIG.

FIG. 11 is a perspective view illustrating a third embodiment of the transport vehicle according to the present invention.

12 is a plan view of the transport vehicle of the embodiment of FIG.

13 is a front view of the transport vehicle of the embodiment of FIG.

14 is a side view of the transport vehicle of the embodiment of FIG. 11. FIG.

FIG. 15 is a front view of a transfer device according to a conventional technique.

16 is a front view of a transport unit used in the transport device of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Transport vehicle 2 Vehicle main body 3 Lower part 4 Longitudinal direction 5 Crossing direction 6 One side 7 The other side 10 Control system (control means) 12 Crane 15 Driver's seat 19 Mounting table 22 Transport unit 23 Center axis 27 Drive wheel 28a Drive motor (Drive device) 28b Reduction gear (drive device) 29 Axis 32 Free wheel 37 Jack (elevating means) 39 Object to be transported

Claims (4)

[Claims] 1. In a transport vehicle for transporting an object to be transported, comprising a transport unit having drive wheels driven by a drive device, the transport unit being slidably provided at a lower portion of the vehicle main body of the transport vehicle. A mounting table on which the object to be transported is mounted on a portion that slides and projects to one side or the other side in the direction intersecting the longitudinal direction, and the vehicle body and the object to be transported that are provided below the mounting table. The transportation unit that supports and operates, and the elevating means that is provided on the mounting table and that moves and lowers the transportation target when the transportation target is placed and installed,
And a control device for performing the operation of the transfer unit by controlling the operation speed and the traveling direction of the transfer unit by mounting and supporting the transfer target on the mounting table. vehicle. 2. The mounting table according to claim 1, and at least one set of the transfer unit provided below the mounting table are provided in a direction intersecting with a longitudinal direction of the vehicle body, and a predetermined unit is provided in the longitudinal direction. A transport vehicle, wherein a plurality of sets are provided at intervals. 3. The drive wheel according to claim 1 or 2, wherein the transport unit is provided so as to face each other with a central axis interposed therebetween and has separate drive devices, and the central axis extends in a direction perpendicular to an axis of the drive wheel. A transport vehicle having at least two free wheels provided to sandwich the vehicle. 4. The vehicle body according to claim 1, wherein the vehicle main body mounts the object to be transported on the mounting table or installs from the mounting table on a crane and an operation for operating the transportation vehicle. A transport vehicle having a seat.