JPH0924861A - Tractor for carriage - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a tractor, circulating in the same direction, to tow a head carriage even in case of disposing a plurality of carriages in series on the same endless travel path without providing special equipment. SOLUTION: Tractor width and height are so set that longitudinal projection shape formed of a body and traveling wheels can pass carriage under-space, partitioned by both width direction side wheels of carriages 51,... and the lower faces of the carriages, along a travel path. A tractor is provided with a front carriage detecting means 3 for detecting the presence of the front carriage 51,..., a traction pin 4 protruded/retreated vertically so as to change its position between a connecting position and a retreat position, a changing motor for driving to change the position of the traction pin 4, and a traveling motor. When the front carriage detecting means 3 detects the presence of the front carriage, the traveling motor is once stopped only for the set time, and the traction pin 4 is changed into the retreat position from the connecting position. After the lapse of the first set time, the tractor is made travel again, and after the lapse of the second set time from the stop time, the traction pin 4 is restored into the connecting position to connect the tractor to the front carriage.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tow truck for use in a manufacturing plant or the like, which is used for moving a truck loaded with parts from a parts storage to an assembly line and for returning an unloading empty truck to the parts storage. Regarding cars

[0002]

2. Description of the Related Art Conventionally, an unmanned towing vehicle a as shown in FIG. 12 has been known as a truck towing vehicle of this type. This is a car body b and four running wheels c, which are almost the same as the bogie.
and a motor d that uses a battery as a power source to drive the traveling wheels c, c so as to travel on a predetermined traveling path by automatic guidance while detecting a predetermined target. That is, the trolley e that has been loaded is placed after the unmanned towing vehicle a, the trolley e and the unmanned towing vehicle a are connected by dropping the pin f, and then the truck e is attached along the traveling path. The aluminum tape or magnetic tape thus produced is guided by automatic or magnetic detection to automatically run.

The traveling road is generally set in advance in an endless manner so as to be able to reciprocate between the parts storage space and the assembly line, and the unmanned towing vehicle a is in the same direction along the endless traveling road. It is supposed to go around.

[0004]

However, since the conventional unmanned towing vehicle a is designed to orbit in the same direction along the endless running path, it cannot move forward if there is a carriage in front of it. Will end up. For this reason, it is not possible to place a plurality of trucks on the same traveling path, and as a component transfer system, the truck e is left connected to the unmanned towing vehicle a, and the truck is placed in the parts storage area. There is no choice but to adopt a system of loading parts and unloading the parts on the production line. That is,
Unless the unmanned towing vehicle a arrives at the parts storage area or the assembly line, the unmanned towing vehicle cannot load or unload, which makes the parts transportation by the unmanned towing vehicle inefficient.

On the other hand, in order to improve the efficiency of component transportation by separating the loading work and the towing work of the trolley using a plurality of trolleys, the trolley loading device g shown in FIG. 13 or the pull-in line h shown in FIG. It is necessary to install special equipment such as h, ... on the above running path separately. That is, the endless running path i
A trolley loading device g including conveyors j, j, etc. is provided beside, and an unmanned towing vehicle a stopped at a position passing in front of the trolley loading device g is loaded onto the traveling path i by the above conveyor j. It is necessary to connect the trolley e in the state, or to connect the trolley e in the loaded state waiting on the pull-in lines h, h ... After the unmanned towing vehicle a on the main line of the traveling path i. In order to carry parts using the unmanned towing vehicle a, it is usual to provide the above-mentioned special equipment on the traveling path.

The present invention has been made in view of such circumstances, and an object thereof is to make it possible to arrange a plurality of carriages in series on the same traveling path without providing special equipment, In addition, the leading carriage of the carriage can be towed to improve the efficiency of transportation of parts and the like.

[0007]

In order to achieve the above object, the invention according to claim 1 comprises a vehicle body, running wheels provided on the vehicle body, and connecting means for connecting the bogie towably. , Which is configured to be connected to the carriage by the connecting means so that the carriage can be towed to travel on a preset traveling path. In this vehicle, as a front-rear direction projection shape composed of the vehicle body and traveling wheels, a traveling path below the bogie space defined by the wheels on both sides in the width direction of the bogie and the lower surface of the bogie and opening in the front-rear direction. A vehicle width and a vehicle height that can pass along the vehicle are provided.

In the case of the above configuration, since the towing vehicle has a projection shape in the front-rear direction that can pass under the bogie space along the traveling path, the bogie exists on the traveling path ahead of the towing vehicle in the traveling direction. However, it becomes possible for the towing vehicle to travel on the same traveling path up to the front side of the trolley passing through the space under the trolley of the trolley. For this reason, it becomes possible to arrange a plurality of carriages in advance on the same traveling path on which the towing vehicle travels and to load or unload them separately from the traveling of the towing vehicle.

According to a second aspect of the present invention, in the first aspect of the present invention, a front bogie detection unit, which is disposed on the vehicle body and detects the presence or absence of a bogie ahead in the traveling direction along the traveling path, and the traveling wheels are driven. Drive means for traveling, a connecting means disposed on the vehicle body so as to be capable of mutually converting the position between a connecting position that projects from the vehicle body and can be connected to the carriage, and a retracted position that releases the connection, and the connecting means. Drive means for conversion for driving the means for conversion. Then, the traveling drive means is connected to the front carriage detection means, and when the front carriage detection means detects that there is a carriage ahead, while driving the traveling wheels for a first set time period. It is configured to stop once. In addition, the connecting drive means is connected to the front carriage detection means, and when the front carriage detection means detects that there is a carriage ahead of the vehicle while traveling, the first
Conversion drive is performed to convert the connection means from the connection position to the retracted position during the set time, and to restore the connection means to the connection position after a second set time that is a predetermined time longer than the first set time has elapsed. It is configured to perform.

In the case of the above construction, when the front carriage detection means detects that there is a carriage ahead of the traveling direction while the towing vehicle is traveling on the traveling road, the traveling drive means is stopped and the traveling is stopped, and the connection is established. The driving means is driven to convert the connecting means from the connecting position to the retracted position. Then, the traveling drive means is re-driven to start traveling after the lapse of the first set time during which the conversion operation is performed, and the connection means is restored from the retracted position to the connected position after the lapse of the second set time from the detection. To be done. In other words, when the front carriage is detected,
During the lapse of the first set time, the connection means is temporarily stopped and the connecting means is converted to the retracted position. In this state, the traveling is restarted and the vehicle sunk under the front carriage. And after diving in, the second
The set time is delayed by a time longer than the first set time, the connection means is restored to the connection position, and is connected to the front carriage,
The truck is towed by running the towing vehicle. Here, even if there is a dolly further ahead, the dolly is detected by the front dolly detecting means and the same operation as described above is repeatedly performed, so that the leading dolly in the front dolly group is reliably connected. Can be towed.

For example, when a towing vehicle tows an empty bogie connected at an unloading place on a traveling road and travels on the traveling road, the presence of a plurality of trolleys put in a loading state at the loading place is forwarded. When the trolley detection means detects and temporarily stops, the empty trolley is disconnected at the loading place by converting the connecting means to the retracted position, and then the towing vehicle sunk under the loading trolley in front of the trolley and connected. When the means is restored to the connecting position, it is connected to the loading trolley, and when the next front trolley is detected, the above loading trolley is disconnected and connected to the detected loading trolley, and this is repeated to connect the leading loading trolley. Tow. Then, when this loading trolley is towed to reach the unloading place, the front trolley detection means detects the presence of a plurality of empty trolleys that have already been unloaded and stopped at the unloading location, and thereafter, Similar to the above, the loading dolly is separated and the empty dolly is connected, the empty dolly is separated and the next empty dolly is connected, and this is repeated to pull the leading empty dolly. Therefore, even if a plurality of trolleys preloaded at the loading location and a plurality of empty trolleys at the unloading location are arranged on the same traveling path as the towing vehicle,
At each location, the towed loading state or empty truck is automatically separated and placed at the end,
It becomes possible for a towing vehicle to pass under a plurality of bogies and to automatically connect and pull the leading empty or loaded bogie. In this way, it becomes possible to unmanned and automate the work of connecting, pulling and disconnecting the bogies by the towing vehicle.

According to a third aspect of the present invention, in the first aspect of the invention, there is provided front vehicle detection means which is disposed on the vehicle body and which detects that there is a vehicle ahead along the traveling path in the traveling direction. Connecting means arranged on the vehicle body such that a traveling drive means for driving wheels, a connecting position projecting from the vehicle body and connectable to the carriage, and a retracted position for releasing the connection are mutually position-changeable. And connecting means for converting and driving the connecting means, and control means for controlling the driving of the traveling drive means and the connecting drive means in accordance with a detection signal from the front carriage detecting means. Then, when the front carriage detecting means detects that there is a carriage ahead, the control means temporarily stops the driving of the traveling drive means while the first set time elapses, and the connecting drive is performed. The connecting means is driven so that the connecting means converts the connecting position to the retracted position during the first set time, and the connecting means is connected to the connected position after a second set time longer than the first set time by a predetermined time. The configuration is such that the conversion drive is performed so as to restore.

In the case of the above structure, the drive means for driving and the connecting drive means are drive-controlled by the control means which receives the detection signal from the front carriage detection means. That is, when the forward vehicle detection means detects that there is a vehicle ahead in the traveling direction while the towing vehicle is traveling on the traveling road, the traveling drive means is stopped and traveling is stopped by the control signal from the control means, The connecting drive means is driven to convert the connecting means from the connecting position to the retracted position. In addition, by the control signal, the traveling drive means is re-driven to start traveling after a lapse of a first set time during which this conversion operation is performed, and the connecting means is retracted after a lapse of a second set time from detection. The position is restored to the connection position. That is, as in the case of the second aspect of the invention, when the front bogie is detected, the vehicle is temporarily stopped for the elapse of the first set time, the coupling means is converted to the retracted position, and the traveling is started again in this state. After that, he sneaks under the front bogie. Then, after diving, the second set time is delayed by a time longer than the first set time, the connecting means is restored to the connecting position and connected to the front bogie, and the bogie is towed by the traveling of the towing vehicle. The above operation is repeated even if there is a front carriage. Therefore, as in the case of the invention according to claim 2, even if a plurality of previously loaded trucks are placed at the loading location and a plurality of empty trucks are placed at the unloading location on the same traveling path as the towing vehicle, respectively. , At each location, the towing truck can be automatically separated and placed at the end, while the towing truck can pass under multiple trucks and automatically connect the leading truck to pull. Nari, connection of trolley by towing vehicle,
It will be possible to automate the towing and disconnecting work unattended.

Further, the invention according to claim 4 is the invention according to claim 2.
Alternatively, in the invention according to claim 3, as the second set time, the connecting means at the point where the front bogie detecting means detects that there is a bogie ahead and the connected portion of the front bogie to which the connecting means is connected. It is set to be longer than the first set time only for the time required to travel a distance corresponding to the relative interval between and.

In the case of the above construction, the vehicle is stopped after the first set time has elapsed and the connecting means is converted to the retracted position at the point where the front bogie detecting means detects that there is a bogie ahead, and then the traveling is started. From the point of time until the connecting means is restored to the connecting position, the connecting means is relatively moved from the point to the position of the connected portion of the front bogie and is securely connected to the front bogie.

[0016]

Embodiments of the present invention will be described below with reference to the drawings.

<First Embodiment> FIG. 1 shows a towing vehicle P for a trolley according to a first embodiment of the present invention.
Reference numeral 2 denotes front and rear traveling wheels for supporting the vehicle body 1 each having two left and right wheels (only one side is shown in FIG. 1), 3 is a front truck detecting means for detecting the presence or absence of a truck ahead in the traveling direction, and 4 is a connecting means. Is a towing pin that forms part of the. Hereinafter, each component will be described in detail.

As shown in FIG. 2, the vehicle body 1 has a vehicle width smaller than a widthwise interval between the wheels 6 and 6 on the left and right sides of the carriage 5 while being supported by the traveling wheels 2, and It is formed flat so as to have a vehicle height smaller than the height of the lower surface 5a of the carriage 5 from the traveling path 8. That is, the projection shape of the vehicle body 1 in the front-rear direction (direction orthogonal to the paper surface of FIG. 2) is such that the left and right wheels 6 and 6 of the carriage 5 and the lower surface 5a.
It is formed so as to be able to pass in the front-rear direction along the traveling path 8 through the undercarriage space 7 partitioned by.

Of the running wheels 2 and 2, a pair of left and right front wheels 2
a is a steering wheel and driving wheel, and a pair of left and right rear wheels 2b are driven wheels. The front wheels 2a are connected to and driven by an electric motor as a traveling drive means, which is powered by an on-board battery (not shown) installed in the vehicle body 1, while being steered by a steering mechanism (not shown). ing. The traveling electric motor and the steering mechanism are guided and controlled by an optical or magnetic guidance control means (not shown). That is, by detecting the guide means 9 such as an aluminum tape or a magnetic tape adhered along the traveling path 8 optically or magnetically, the guide means 9 guides the guide means 9 to set a preset endless shape. The vehicle runs around the traveling path 8 (see FIG. 3) in the same direction (counterclockwise in FIG. 3).
In addition, the electric motor for traveling is the traction control means 1 described later.
9 also controls the stop and start of the traveling. It should be noted that as the above-mentioned guidance control means, a conventionally known means may be used.

As shown in FIG. 3, the endless running path 8 is set so as to circulate between the parts storage space S and the assembly line M. The parts loading place 8a is set in the area on the side of the parts storage S on the travel path 8, and the unloading place 8b of the parts is set in the area on the side of the assembly line M on the travel path 8, respectively. Further, in the loading place 8a, the empty trucks 5, 5 before loading are continuously provided on the rear side thereof.
The waiting place 8c is set for the unloading place 8b, and the waiting place 8d for the empty trolleys 5, 5, ... At the loading place 8a, a plurality of trolleys 5, on which the parts in the parts storage space S are loaded,
Are arranged on the traveling path 8, and at the unloading place 8b are arranged a plurality of carriages 5, 5, ... Which have already been towed and carried out for unloading work.

The front trolley detection means 3 is composed of a detection piece 3a protruding forwardly and obliquely upward from a front end surface 1a which is an inclined surface of the vehicle body 1, and this detection piece 3a.
When the towing vehicle P moves forward and the detection piece 3a comes into contact with the rear end edge of the carriage 5 and retracts from the protruding state when the towing vehicle P moves forward. At this time, an ON signal is output to the traction control means 19 described later. In other words, the presence of a dolly in the front is detected by the output of the ON signal, and is constituted by a simple means such as a limit switch.

The towing pin 4 is supported by a conversion mechanism arranged in the vehicle body 1 so as to be able to reciprocate in the vertical direction, whereby the upper surface 1b of the vehicle body 1 is substantially centered in the front-rear direction and the width direction. The position between the connection position (the position shown in FIG. 1) protruding upward from the hole 1c and the retracted position (the position shown by the broken line in FIG. 2) is mutually converted. Then, as shown in FIG.
A recessed groove portion 5c is formed in a. The opening 5a extends downward and extends in the front-rear direction and at least the front end side is closed by a structural member 5b. The towing pin 4 is lifted up to a connecting position shown by a solid line in FIG. As a result, it is fitted into the recessed groove portion 5c, and comes into contact with the rear surface of the structural member 5b as the connected portion so as to be in a drawably connected state. On the other hand, the connection is released by lowering the towing pin 4 to the retracted position shown by the alternate long and short dash line in FIG.

As the conversion mechanism, the traction pin 4 is used.
It is possible to employ various mechanisms such as connecting the motor and the motor for operating the motor via a rack and pinion gear. An example is shown in FIG. Conversion mechanism 10 of this example
Is an arm member 11 fixed to the lower end of the towing pin 4 and extending in the horizontal direction to support the towing pin 4 in a vertically movable manner.
And the plate member 12 stacked on the lower side of the arm member 11.
It is provided with coil springs 13 and 13 for urging the arm member 11 in the ascending direction via a disk member 15 and a disk member 15 fixed to an output shaft 14a of an electric motor 14 as a connecting drive means. A rotary roller 16 rotatably attached to the outer peripheral position of 15 is rotatably abutted on the upper surface of the arm member 11. Then, while the rotating roller 16 is positioned at the uppermost position and the towing pin 4 projects to the connecting position, the disk member 15 is rotated 180 degrees by the operation of the motor 14, so as shown by a chain line in FIG. The rotating roller 16 is rotated and moved to the lowest position while pushing down the arm member 11, and accordingly, the towing pin 4 is lowered to the retracted position. When the disk member 15 further rotates 180 degrees, the towing pin 4 is raised and restored to the connecting position.

Further, the disk member 15 has an outer peripheral edge portion 15a centering on the force shaft 14a of the motor 14 and a defective portion 15b formed in a part in the circumferential direction thereof. 15b is positioned laterally when the rotary roller 16 is positioned at the uppermost position. Limit switches 17 and 18 for detecting the position of the towing pin 4 are provided on both sides of the disk member 15.
The limit switches 17 and 18 detect whether the towing pin 4 is in the connecting position or the retracted position, respectively. That is, when the towing pin 4 is in the connecting position, the left side limit switch 17 comes into contact with the outer peripheral edge portion 15a to be in the OFF state as shown by the solid line in FIG. 6, and the right side limit switch 18 comes into contact with the defect portion 15b and becomes ON. In the state, above-mentioned towing pin 4
Is detected at the connecting position. On the other hand, when the towing pin 4 is in the retracted position, the left side limit switch 17 comes into contact with the defective portion 15a to be in the ON state as shown by the dashed line in FIG. 6, and the right side limit switch 18 comes into contact with the outer peripheral edge portion 15a. Is turned off to detect that the towing pin 4 is in the retracted position.

As shown in FIG. 7, the vehicle body 1 has a traction control means 1 composed of a microcomputer.
9, the towing control means 19 includes a front carriage detection means 3 and two limit switches 17 and 18.
The electric motor 14 for the towing pin 4 and the electric motor 20 for traveling are controlled based on the output signal from the electric motor.

The control by the traction control means 19 will be described below with reference to FIG. First, in step S1, it is repeatedly determined whether or not the output from the front truck detection means 3 is an ON signal. When the ON signal is output, both the built-in timer 1 and timer 2 are started in step S2, and step S3 The operation of the electric motor 20 is stopped to stop the traveling of the towing vehicle P, and the electric motor 14 is operated to rotate the disk member 15 by 180 degrees in step S4 to move the towing pin 4 from the connecting position to the retracted position. Lower it. This lowering operation is continued until the limit switch 17 is turned on.

Next, in step S5, it is checked whether or not the timer 1 has timed out, and when the time is up, that is, when the first set time has elapsed, the traveling motor 20 is driven to start traveling in step S6. .

Then, in step S7, it is determined whether or not the timer 2 has timed up, that is,
When the second set time has elapsed, the electric motor 14 is operated in step S8 to rotate the disk member 15 again by 180 degrees, thereby raising the towing pin 4 from the retracted position to the connected position. Limit switch 1
Continue until 8 is turned on.

The first set time of the timer 1 is set in advance as the time required for the towing pin descending operation after the traveling of the towing vehicle P is stopped, and the second set time of the timer 2 is set to the forward direction. A towing pin 4 at a point (a stop point of the towing vehicle P shown by a chain line in FIG. 4) at which the bogie 51 is detected by the bogie detecting means 3 and a rear surface position of the connected portion 5b of the front bogie 51. Is set to be longer than the first set time by the time required for the towing vehicle P to travel the distance along the travel path. Therefore, the first set time and the second set time are the conversion operation time between the connecting position of the towing pin 4 and the retracted position,
In addition to the set traveling speed of the towing vehicle P, the relative position of the front bogie detection means 3 and the towing pin 4 in the towing vehicle P, and the relative position and the position of the structural member 5b or the like to be connected to the bogie 51. A conversion mechanism that is determined based on the relationship and can instantaneously perform the operation of the towing pin 4 is adopted, or the first set time may be set to a minute time or the second set time may be set to a first time depending on the positional relationship. It becomes possible to make the time closer to the set time, as it almost matches.

The operation of the towing vehicle P based on the above control will be described with reference to FIGS. 4, 9 and 10. In FIG. 4, the front bogie detection means 3 of the towing vehicle P traveling forward from the rear by the control of steps S1 to S5,
Among the plurality of carriages 51, 52, 53, when the rearmost carriage 51 is contacted and an ON signal is output, it temporarily stops at that position for the first set time and the towing pin 4 is lowered to the retracted position. After the lapse of the first set time, the vehicle travels forward again (step S6), dives under the carriage 51, and moves under the carriage space 7
(See FIG. 2). Then, after a lapse of the second set time from the stop point, the towing pin 4 is lifted and connected to the trolley 51 (steps S7 and S).
8) Tow the cart 51. However, soon
Since the trolley 52 in front of the trolley 51 is detected by the front trolley detection means 3, the trolley 51 is temporarily stopped and the trolley pin 4 is lowered to disconnect the trolley 51, and the traveling is started again as shown in FIG. As shown in the drawing, the vehicle crawls under the trolley 52, and is connected to the trolley 52 by raising the towing pin 4 midway.

Then, the above operation is repeated by the detection of the leading carriage 53 further ahead, and the leading carriage 53 is connected by the raised towing pin 4 (see the towing carriage P shown by the solid line in FIG. 10), Since there are no other trucks ahead, the towing vehicle P is the leading truck 53
Will be towing (refer to the towing vehicle P indicated by the alternate long and short dash line in the figure).

According to the above-described towing vehicle P, in FIG. 3, for example, the truck 5 in a loaded state is towed to pull the towing vehicle P.
Is traveling from the loading place 8a to the unloading place 8b, the front carriage detecting means 3 of the towing vehicle P (see FIG. 4).
(See) comes into contact with the truck 5 at the unloading place 8b, the towing pin 4 descends to the retracted position and the truck 5 towed is automatically separated. After that, the towing vehicle P detects, temporarily stops, and pulls a towing vehicle until it reaches the leading vehicle 5 under the plurality of vehicles 5, 5, ... Arranged in the unloading place 8b and the empty truck waiting place 8d. Four
Is repeatedly lowered and re-run, and the towing pin 4 is repeatedly raised, and the carriage 5 at the leading end thereof is automatically connected by the towing pin 4, and this empty carriage 5 is towed toward the loading place 8a. . Then, the front bogie detection means 3 of the towing vehicle P comes into contact with the empty bogie 5 at the standby location 8c, so that the empty bogie 5 that has been towed is automatically stopped once again and the towing pin 4 is lowered to the retracted position. , And similarly to the above, the leading loading trolley 5 is automatically coupled by passing under the plurality of trolleys 5, 5, ... At the waiting place 8c and the loading place 8a, and unloading again. Towed towards location 8b.

Therefore, a plurality of trucks 5, 5, ... Are arranged in advance on the same traveling path 8 on which the towing vehicle P travels, and the trucks 5, 5, ... Are separated from the traveling of the towing vehicle P. It can be loaded and unloaded, and the efficiency of parts transportation can be greatly improved. Moreover, the efficiency of transportation by arranging such a plurality of carriages 5, 5, ... Is special equipment, for example, a carriage loading device g (see FIG. 13).
This can be performed without additionally providing a drawing line h (see FIG. 14) or the like, and not only cost reduction but also space saving and effective use of space can be achieved.
In addition, all the work of connecting, towing and disconnecting the truck 5 by the towing vehicle P can be unmanned and automated, and labor saving in parts transportation can be achieved.

<Second Embodiment> FIG. 11 is a block diagram showing a towing operation of a towing vehicle according to a second embodiment of the present invention. The second embodiment is configured such that the same traction operation as in the first embodiment is performed mechanically without using the traction control means 19.

That is, on the premise of the towing vehicle P having the same structure as that of the first embodiment, the electric motor 1 for a towing pin.
4 is connected to the front bogie detection means 3 directly and via the timer 1, while the front bogie detection means 3 is connected to the traveling electric motor 20 directly and via the timer 1. In addition, a pair of limit switches 17 and 18 are connected to the electric motor 14 for the towing pin by a predetermined circuit.

In this case, the front bogie detection means 3 is constituted by a simple means such as a limit switch, and is brought into contact with the bogie and switched to the ON side so that the electric motor 14 for the towing pin is energized and the electric motor for traveling is driven. The power supply to the motor 20 is cut off, and the timer 1T1 and timer 2T
2 are connected so that they can be activated (started) together. Further, when the operated timer 1T1 finishes the accumulation of the same first set time as in the first embodiment, the traveling motor 14 is energized again, and the timer 2T2 similarly accumulates the same second set time as in the first embodiment. The electric motors 20 for pulling pins are connected to each other so that the electric motors 20 for pulling pins can be re-energized.

On the other hand, while the front bobbin detection means 3 is switched to the ON side and the electric motor 20 for the towing pin is energized, the left side limit switch 17 is switched to the ON side to switch the electric motor 20 to the electric motor 20. The power supply is cut off, and the electric motor 20 is turned on by the timer 2T2.
When the power is turned on again, the right side limit switch 18
The pair of limit switches 1 so that the electric power to the electric motor 20 is cut off by switching to the N side.
7, 18 and the electric motor 20 are connected to each other.

As a result, also in the second embodiment,
The same operation and effect as those of the first embodiment can be obtained.

<Other Embodiments> The present invention is not limited to the first and second embodiments described above, but includes various other embodiments. That is, in the first and second embodiments described above, the electric motor 20 is shown as the driving means for traveling, but the invention is not limited to this, and an engine or the like may be used. In addition to stopping the electric motor 20 by cutting off the energization, the transmission of the rotational force may be cut off by using clutch means.

In the above-described first and second embodiments, the pulling pin 4 which reciprocates in the vertical direction is shown as the connecting means, but the present invention is not limited to this. For example, the pulling pin 4 is reciprocated between the connecting position and the retracted position by a rotating operation. A moving object may be used.

Further, in the first and second embodiments, the limit switch is used as the front carriage detecting means,
Not limited to this, for example, a changeover switch or an optical sensor may be used.

Further, in the above first and second embodiments, the front wheel steering / front wheel driving system is shown, but the present invention is not limited to this, and for example, front wheel steering / rear wheel driving, front wheel driving / rear wheel steering,
Alternatively, rear wheel steering / rear wheel drive may be used.

[0043]

As described above, according to the towing vehicle for a bogie of the invention described in claim 1, it is possible to pre-arrange a plurality of bogies on the same traveling path on which the towing vehicle travels. It is possible without installing special equipment such as equipment or pull-in line, and it is possible to preload or unload these carts separately from the running of the towing vehicle, and to transport parts etc. The efficiency of can be improved. In addition, the cost can be reduced by omitting the above special equipment, and the factory space can be effectively used.

According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, a plurality of trucks preloaded at the loading place and a plurality of empty trucks at the unloading place are towed, respectively. Even when they are placed on the same road as the car, at each location, the towed loading state or empty bogie is automatically disconnected and placed at the end, while the tow truck runs under multiple bogies. It is possible to automatically connect and tow the empty or loaded truck at the beginning after passing. In this way, the work of connecting, pulling, and disconnecting the bogies by the towing vehicle can be unmanned and automated. Moreover, it is possible to simply configure a towing vehicle that can obtain such effects.

According to the invention of claim 3, in addition to the effect of the invention of claim 1, as in the case of the invention of claim 2, a plurality of previously loaded carts are loaded. Even if multiple empty trucks are placed in the same place as the towing vehicle in the place where they are unloaded,
At each location, the towing truck can be automatically separated and placed at the end, while the towing truck can pass under multiple trucks and the first truck can be automatically connected and towed. , It is possible to automate the work of connecting, pulling and disconnecting the trolley by the towing vehicle by unmanned.

Further, according to the invention described in claim 4, it is possible to more reliably obtain the effects of the invention described in claim 2 or claim 3.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is an enlarged view of a truck and a towing vehicle as seen from the rear.

FIG. 3 is an explanatory plan view showing an arrangement of traveling paths.

FIG. 4 is a side view showing a state in which the towing vehicle approaches the bogie from behind.

5 is a partially enlarged cross-sectional view taken along the line AA of FIG.

FIG. 6 is a cross-sectional explanatory view showing an example of a towing pin converting mechanism.

FIG. 7 is a block configuration diagram for traction control.

FIG. 8 is a control flowchart of traction control.

FIG. 9 is a side view showing a state in which the towing vehicle is passing under the carriage.

FIG. 10 is an explanatory side view showing a state in which leading carts are connected and towed together.

FIG. 11 is a block diagram for a towing operation according to the second embodiment.

FIG. 12 is a side view showing a conventional towing vehicle.

FIG. 13 is an explanatory plan view showing a transfer device conventionally attached to a traveling path.

FIG. 14 is an explanatory plan view showing a lead-in line conventionally attached to a traveling path.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 vehicle body 2 running wheels 3 front bogie detection means 4 towing pin (coupling means) 5, 51, 52, 53 bogie 5a bottom surface of bogie 5b structural member (joined part) 6 bogie wheel 7 undercarriage space 8 traveling path 10 conversion Mechanism (coupling means) 14 Towing pin electric motor (coupling driving means) 17, 18 Limit switch (position detecting means) 19 Traction control means (control means) 20 Traveling electric motor (traveling driving means) P Towing vehicle T1 Timer 1 (first set time) T2 Timer 2 (second set time)

Claims (4)

[Claims] 1. A vehicle body, traveling wheels provided on the vehicle body, and connecting means for connecting the bogie to a towable manner. The vehicle is connected to the bogie by the connecting means and tow the bogie to be preset. In a towing vehicle for a bogie configured to be able to travel on a traveling road, a front-back projection shape composed of the vehicle body and traveling wheels is divided into wheels on both sides in the width direction of the bogie and a lower surface of the bogie. A towing vehicle for a bogie having a vehicle width and a vehicle height capable of passing through a space under the bogie that is opened in the front-rear direction along a traveling path. 2. The front bogie detecting means, which is disposed on the vehicle body and detects that there is a bogie ahead in the traveling direction along the traveling path, and means for driving traveling wheels, wherein Driving means for driving, which is connected to the trolley detection means and which temporarily stops driving of the traveling wheels for a first set time when it is detected by the front trolley detection means that there is a trolley in front of the vehicle; The vehicle is connected to the connecting means disposed on the vehicle body so as to be capable of mutually converting the position between the connecting position where the protruding and connecting with the bogie and the retracted position for releasing the connecting, and the front bogie detecting means, and the traveling. During the continuation, when it is detected by the front carriage detection means that there is a carriage ahead, the connecting means is converted and driven from the connection position to the retracted position during the first set time, and the first set time is set. Longer than a predetermined time Truck for towing vehicles, characterized in that a connecting drive means for converting the driving to restore the connection means after a set time the coupling position. 3. The front bogie detection means, which is disposed on the vehicle body and detects that there is a bogie ahead in the traveling direction along the traveling path, and a traveling driving means for driving traveling wheels, A connecting means disposed on the vehicle body so as to be able to mutually convert a position between a connecting position that projects from the vehicle body and can be connected to the bogie and a retracted position that releases the connection, and a connecting means for converting and driving the connecting means. Drive means and control means for controlling the drive of the traveling drive means and the connecting drive means in accordance with a detection signal from the front carriage detection means, wherein the control means is forwarded by the front carriage detection means. When it is detected that there is a carriage in the vehicle, the driving of the traveling drive means is temporarily stopped for the first set time, and the connecting drive means is operated by the connecting means during the first set time. From the connecting position It is configured to be driven so as to be converted to the retracted position and to be driven so as to restore the connecting means to the connected position after a second set time longer than the first set time by a predetermined time has elapsed. Truck towing vehicle. 4. The second set time according to claim 2 or 3, wherein the second set time is a connecting means at a point where the front bogie detecting means detects that there is a carriage in front, and the front side where the connecting means is connected. A towing vehicle for a bogie, wherein the towing vehicle is set to be longer than the first set time only for a time required to travel a distance corresponding to a relative distance between the connected portion of the bogie.