JP3637699B2 - Self-propelled cart - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a self-propelled carriage for carrying heavy objects.
[0002]
[Prior art]
FIG. 9 is a diagram illustrating a configuration of a pallet transport system used for transporting heavy objects such as large steel materials. 9A, reference numeral 1 denotes a pallet, which includes a mounting table 1a on which a heavy object 2 is mounted, and leg members 1b, 1b,... Attached to four corners on the lower surface of the mounting table 1a. It is formed integrally. Reference numeral 3 denotes a self-propelled carriage having 12 drive wheels. A front driver's cab 3F and a rear driver's cab 3R are provided at the front and rear of the self-propelled carriage 3, respectively, and the driver can board and drive in either the front driver's cab 3F or the rear driver's cab 3R. I do.
[0003]
In addition, the self-propelled carriage 3 controls the steering angle and the rotation direction of the 12 drive wheels, so that it travels not only forward and backward, but also diagonally (hereinafter referred to as skew) and laterally (hereinafter referred to as lateral). And spin running is possible. Here, the skew is a constant angle other than 90 degrees (hereinafter referred to as a skew angle) with respect to the longitudinal vehicle body central axis of the self-propelled carriage 3, for example, a skew angle of 60 degrees. It means that the self-propelled carriage 3 runs in the direction. Further, traversal means that the self-propelled carriage 3 travels in a direction of 90 degrees with respect to the vehicle body central axis. The spin traveling refers to traveling in which the self-propelled carriage 3 rotates about the center on a plane.
[0004]
Next, a method of conveying the pallet 1 using the self-propelled carriage 3 will be described with reference to FIGS. 9 (a) to 9 (d) and FIG. FIG. 10 is a plan view showing how the pallets 1, 1,... Placed on the wharf 4 are loaded onto the cargo ship 5 moored on the wharf 4 using the self-propelled carriage 3. On the deck 5a of the cargo ship 5 shown in FIG. 10, two traveling lines L, L are formed in the longitudinal direction. These travel lines L, L serve to guide the self-propelled carriage 3.
[0005]
In the wharf 4 shown in FIG. 10, the driver boarding the front cab 3F causes the self-propelled carriage 3 to enter under the mounting table 1a of the pallet 1 to be transported as shown in FIG. 9A. . Next, as shown in FIG. 9B, the driver operates a switch (not shown) in the cab to raise the height of the self-propelled carriage 3 and loads the pallet 1 onto the loading platform 3a. The self-propelled carriage 3 is stopped in a region Y0 indicated by a broken line on the deck of the cargo ship 5 via a travel route K indicated by a two-dot chain line in FIG. That is, the driver stops the self-propelled carriage 3 by a rule of thumb at a position where the vehicle body center axis is perpendicular to the longitudinal axis (not shown) of the cargo ship 5.
[0006]
Next, when the spin travel switch is pushed by the driver, the drive wheels 61 to 612 of the self-propelled carriage 3 are steered, and then the drive wheels 61 to 612 are rotationally driven. As a result, the self-propelled carriage 3 turns clockwise by a certain spin angle from the position of the region Y0 to the position indicated by the solid line. The spin angle is a preset value. In this state, the driver can check the traveling line L forward diagonally.
[0007]
Next, the driver presses a switch corresponding to a preset skew angle (for example, 60 degrees) to skew the self-propelled carriage 3 from the position indicated by the solid line in FIG. As a result, all of the driving wheels 61 to 612 of the self-propelled carriage 3 are steered at a steering angle of 60 degrees (hereinafter referred to as equiangular steering), and when the accelerator is stepped on, the self-propelled carriage 3 is moved to the arrow D1. Travel diagonally in the direction. During this traveling, the driver operates the steering wheel so that the self-propelled carriage 3 travels on the travel line L. That is, the driver performs the operation while finely adjusting the steering angles of the drive wheels 61 to 612 with the can while looking at the travel line L.
[0008]
Then, when the self-propelled carriage 3 reaches the area Y1, the driver lowers the vehicle height of the self-propelled carriage 3 by the switch operation and places the pallet 1 in the area Y1, as shown in FIG. 9 (c). As shown in FIG. 9D, the pallet 1 is again loaded.
Thereafter, similarly, as shown in FIG. 10, the driver places the pallet 1 sequentially in the areas Y2, Y3,... Of the cargo ship 5 while keeping a certain distance from the adjacent pallet 1.
[0009]
[Problems to be solved by the invention]
By the way, in the above-described conventional self-propelled carriage, the driver moves the area of the traveling cart 3 while correcting the deviation of the actual traveling path of the self-propelled carriage 3 with respect to the regular traveling route by looking at the travel line L. An example of traveling to Y1 was described.
However, in practice, it is difficult to accurately recognize the deviation. Therefore, the driver recognizes the deviation of the travel route for the first time after the traveling vehicle 3 is positioned near the region Y1, and then recognizes the deviation. In order to correct, there is a drawback in that the operation of repeatedly operating the steering wheel and stopping the traveling carriage accurately in the region Y1 must be repeated.
The present invention has been made under such a background, and is capable of accurately correcting the deviation between the normal travel route and the actual travel route without being influenced by the skill level of the driver. The purpose is to provide a dolly.
[0010]
[Means for Solving the Problems]
The invention described in claim 1 includes a substantially rectangular parallelepiped vehicle body, a driver's cab provided at a front portion of the vehicle body, and a plurality of drive wheels provided respectively at a lower portion of the vehicle body, on a traveling road surface. In a self-propelled carriage that runs obliquely or transversely along the applied travel line, a guide angle that is provided in the vicinity of the driver's cab and that forms a longitudinal axis of the vehicle body in a horizontal plane is the plurality of drives. Slit light irradiating means for irradiating slit light having the same value as the wheel steering angle toward the traveling road surface is provided.
[0011]
According to a second aspect of the present invention, in the self-propelled carriage according to the first aspect, the slit light irradiation means includes a light source that generates visible light, and a slit that is formed with a slit and converts the visible light into the slit light. And a light converting means.
[0012]
The invention according to claim 3 includes a substantially rectangular parallelepiped vehicle body, a driver's cab provided at a front portion of the vehicle body, and a plurality of drive wheels provided respectively at a lower portion of the vehicle body, on a traveling road surface. In a self-propelled carriage that runs obliquely or transversely along the applied travel line, a guide angle that is provided in the vicinity of the driver's cab and that forms a longitudinal axis of the vehicle body in a horizontal plane is the plurality of drives. A first spot beam light irradiating means for irradiating the first spot beam light with a first depression angle toward the traveling road surface, which is equivalent to a steering angle of the wheel, and provided in the vicinity of the cab, And second spot beam light irradiating means for irradiating the second spot beam light having the guide angle equal to the steering angle toward the traveling road surface with a second depression angle.
[0013]
The invention according to claim 4 includes a substantially rectangular parallelepiped vehicle body, a driver's cab provided at a front portion of the vehicle body, and a plurality of drive wheels respectively provided at a lower portion of the vehicle body, on a traveling road surface. In a self-propelled carriage that runs obliquely or transversely along the applied travel line, a guide angle that is provided in the vicinity of the driver's cab and that forms a longitudinal axis of the vehicle body in a horizontal plane is the plurality of drives. Spot beam light irradiating means for irradiating the traveling road surface with spot beam light having the same value as the steering angle of the wheel, and a point on the line in the guide angle direction on the traveling road surface that is suspended near the cab. It is characterized by comprising a bar whose tip is located on the line of sight connecting with the driver's eyes.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
<First Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic plan view showing the configuration of the self-propelled carriage according to the first embodiment of the present invention. In this figure, portions corresponding to the respective portions of the self-propelled carriage 3 shown in FIGS. 9 and 10 are denoted by the same reference numerals and description thereof is omitted. In FIG. 1, optical traveling guide devices 10FR, 10FL, 10RL and 10RR are newly provided. The traveling guide device 10FR is attached to the right corner portion of the self-propelled carriage 3 on the front cab 3F side, and irradiates the deck light 5s with the slit light Os. The slit light Os is irradiated in an oblique right direction with respect to the traveling direction of the self-propelled carriage 3. Here, the axis line in the longitudinal direction of the self-propelled carriage 3 is defined as the axis line Jx, and the axis line orthogonal to the axis line Jx is defined as the axis line Jy.
[0015]
Here, the configuration of the travel guide device 10FR will be described with reference to FIG. FIG. 2 is a perspective view showing an external configuration of the travel guide apparatus 10FR shown in FIG. In this figure, 11R is a disk-shaped right base. 13R is a columnar cylindrical member that is suspended from the center of the right base 11R. 14R is a slit light generator that is cylindrical and attached and fixed to the tip of the columnar member 13R. The slit light generator 14R generates slit light Os (see FIG. 1) and irradiates the deck 5a. The slit light generator 14R has a guide angle θg (for example, 60 degrees) between the axis J and the axis Jx (see FIG. 1), and the axis J and the axis Jy (see FIG. 1). Is attached to the tip of the cylindrical member 13R so that the angle formed by the angle becomes the depression angle θf. That is, the slit light Os generated from the slit light generator 14R is applied to the deck 5a in the direction determined by the guide angle θg and the depression angle θf described above. The guide angle θg and the depression angle θf are fixed values.
[0016]
Here, the detailed configuration of the slit light generator 14R described above will be described with reference to FIGS. 3 is a side sectional view showing an internal configuration of the slit light generator 14R shown in FIG. 2, and FIG. 4 is a front view showing a configuration of a slit portion of the slit light generator 14R shown in FIG. In the slit light generator 14 </ b> R shown in FIG. 3, reference numeral 15 denotes a substantially cylindrical cylindrical member whose left end surface is closed and whose right end surface is open. Reference numeral 16 </ b> R denotes a right laser oscillator attached to the end plate 15 a of the cylindrical member 15, which irradiates laser light La in the longitudinal direction of the cylindrical member 15.
[0017]
Reference numeral 17 denotes a lens disposed in the center of the inside of the cylindrical member 15 and condenses incident laser light La. Reference numeral 18 denotes a slit member attached to the opening 15b of the cylindrical member 15, and emits incident laser light La as slit light Os (see FIG. 2). As shown in FIG. 4, the slit member 18 has a disk shape, and a slit 18a extending in the vertical direction is formed at the center thereof.
[0018]
In FIG. 1, 10 FL is a travel guide device having the same configuration as the travel guide device 10 FR described above, and is attached to the left corner of the front cab 3 </ b> F side of the self-propelled carriage 3. The deck 5a is irradiated with slit light (not shown) in the left oblique direction. 10RR is a travel guide device having the same configuration as the travel guide device 10FR, is attached to the right corner of the rear cab 3R of the self-propelled carriage 3, and is slit in the right oblique direction with respect to the traveling direction of the self-propelled carriage 3. Light (not shown) is irradiated toward the deck 5a. 10RL is a travel guide device having the same configuration as the travel guide device 10FR, and is attached to the left corner of the rear cab 3R of the self-propelled carriage 3 and is inclined leftward with respect to the traveling direction of the self-propelled carriage 3. Irradiate slit light (not shown).
[0019]
Next, the electrical configuration of the self-propelled carriage according to the first embodiment will be described with reference to FIG. In this figure, parts corresponding to those in FIGS. 2 and 3 are given the same reference numerals. FIG. 5 shows an electrical configuration related to the travel guide devices 10FR and 10FL shown in FIG.
In FIG. 5, 20 is a control part which controls each part of an apparatus, The detailed operation | movement of this control part 20 is mentioned later. In the travel guide device 10FR, 22R is a laser drive circuit that drives the right laser oscillator 16R based on the right laser drive signal SLR supplied from the control unit 20.
[0020]
In the travel guide device 10FL, 16L is a left laser oscillator. A laser drive circuit 22L drives the left laser oscillator 16L based on the supplied left laser drive signal SLL. The left laser oscillator 16L and the laser drive circuit 22L described above have the same configuration as the right laser oscillator 16R and the laser drive circuit 22R, respectively.
[0021]
Reference numeral 23 denotes a steering angle adjustment unit 23 that adjusts the steering angle θs of the drive wheels 61 to 612 shown in FIG. 1 based on the steering angle signal Ss supplied from the control unit 20. Reference numeral 24 denotes a left / right changeover switch, which is a switch for selecting which of the travel guide device 10FR or the travel guide device 10FL is to be operated. Reference numeral 25 denotes a skew mode switch for instructing the skew described above, and is a switch for setting, for example, 60 degrees as the steering angle θs (see FIG. 1) for the control unit 20. The steering angle θs of 60 degrees can be arbitrarily changed. A traverse mode switch 26 for instructing the traverse described above is a switch for setting 90 degrees as the steering angle θs with respect to the control unit 20.
[0022]
Next, the operation of the self-propelled carriage according to the first embodiment described above will be described. First, as shown in FIG. 1, when the self-propelled carriage 3 exists at a position where the axis Jx and the travel line L form an angle θ (see FIG. 10), the driver holds the self-propelled carriage 3 in FIG. The left / right changeover switch 24 and the skew mode switch 25 shown in FIG. Thus, the control unit 20 recognizes that the travel guide device 10FR (see FIG. 1) is used and that the skew mode is set.
[0023]
Next, the control unit 20 shown in FIG. 5 supplies the right laser drive signal SLR to the laser drive circuit 22R. As a result, the right laser oscillator 16R is driven by the laser drive circuit 22R, and the laser beam La is emitted from the right laser oscillator 16R shown in FIG. The laser beam La is condensed by the lens 17 and further irradiated to the deck 5a as slit light Os through the slit 18a of the slit member 18 as shown in FIG. And on the deck 5a shown in FIG. 6, the linear optical line Ok is formed in the part which slit light Os hits.
[0024]
Further, the control unit 20 shown in FIG. 5 supplies the steering angle signal Ss to the steering angle adjusting unit 23 so that the steering angle θs (see FIG. 1) is 60 degrees. As a result, the steering angle adjusting unit 23 rotationally drives the drive wheels 61 to 612 shown in FIG. As a result, the steering angle θs is set to 60 degrees as shown in FIG. That is, now, the steering angle θs and the guide angle θg are the same value, that is, both are 60 degrees.
[0025]
Therefore, the direction indicated by the optical line Ok on the deck 5a is the traveling direction of the self-propelled carriage 3, and the driver can know the direction in which the self-propelled carriage 3 is traveling by checking the optical line Ok. it can. That is, the driver can easily know the deviation between the normal travel route of the self-propelled carriage 3 and the actual travel route of the self-propelled carriage 3 from the positional relationship between the optical beam Ok and the travel line L.
[0026]
When the accelerator pedal is depressed by the driver, the self-propelled carriage 3 is skewed in the direction of the arrow D1 shown in FIG. During this skew, the driver operates the steering wheel so that the optical line Ok and the travel line L are parallel or coincide with each other while observing the positional relationship between the optical line Ok and the travel line L, whereby the steering angle θs. Tweak the. Thereby, the self-propelled cart 3 travels along the regular travel route.
[0027]
Second Embodiment
Next, the configuration of the self-propelled carriage according to the second embodiment of the present invention will be described. In the self-propelled carriage according to the second embodiment, a travel guide device 10AFR shown in FIG. 7 is provided instead of the travel guide device 10FR shown in FIG. 1, and in the same manner, the travel guide shown in FIG. Instead of the devices 10FL, 10RR and 10RL, those having the same configuration as the travel guide device 10AFR shown in FIG. 7 are provided.
[0028]
Hereinafter, the configuration of the travel guide device 10AFR will be described with reference to FIG. In FIG. 7, the same reference numerals are given to the portions corresponding to the respective portions in FIG. In FIG. 7, instead of the columnar member 13R and the slit light generator 14R shown in FIG. 2, a columnar member 30 and spot beam light generators 31 1 and 312 are provided.
[0029]
The cylindrical member 30 has a cylindrical shape and is suspended from the central portion of the right base 11R. The spot beam light generator 31 is attached to the upper part of the cylindrical member 30, and irradiates the straight spot beam light Ob1 toward the deck 5a. The locus of the spot beam light Ob1 corresponds to one edge of the slit light Os (see FIG. 2) indicated by a two-dot chain line in the drawing. A spot P1 obtained on the deck 5a by the spot beam light Ob1 corresponds to one end of an optical line Ok (see FIG. 2) indicated by a two-dot chain line in FIG.
[0030]
The spot beam light generator 312 is attached to the upper part of the cylindrical member 30 and irradiates the deck 5a with the spot beam light Ob2 having the same optical properties as the above-described spot beam light Ob1. The locus of the spot beam light Ob2 corresponds to the other edge of the slit light Os shown in the figure, and the spot P2 obtained on the deck 5a by the spot beam light Ob2 is the other end of the optical line Ok. Corresponds to the department. That is, the imaginary line M connecting the spot P1 and the spot P2 corresponds to the optical line Ok (see FIG. 2).
[0031]
In the above-described configuration, the driver can observe the positional relationship between the spots P1 and P2 and the travel line L shown in FIG. 7 in the same manner as the self-propelled carriage according to the first embodiment. The steering angle θs shown in FIG. 1 is finely adjusted by operating the steering wheel so as to be positioned above. Thereby, the self-propelled cart 3 travels along the regular travel route.
[0032]
<Third Embodiment>
Next, the configuration of the self-propelled carriage according to the third embodiment of the present invention will be described. In the self-propelled carriage according to the third embodiment, a travel guide device 10BFR shown in FIG. 8 is provided instead of the travel guide device 10FR shown in FIG. 1, and in the same manner, the travel guide shown in FIG. Instead of the devices 10FL, 10RR and 10RL, those having the same configuration as the travel guide device 10BFR shown in FIG. 8 are provided.
[0033]
In the travel guide apparatus 10BFR shown in FIG. 8, reference numeral 33 denotes a rod that is suspended in the vicinity of the front cab 3F (see FIG. 1). The tip 33a of the bar 33 is located on the line of sight H connecting the driver's eyes 35 and the viewpoint Pb corresponding to one end of the optical line Ok (see FIG. 2) indicated by a two-dot chain line. Reference numeral 34 denotes a spot beam light generator provided in the vicinity of the front cab 3F, which irradiates a straight spot beam light Oba toward the deck 5a. A spot Pa obtained on the deck 5a by the spot beam light Oba corresponds to the other end of the optical line Ok.
[0034]
In the configuration described above, the driver can observe the positional relationship between the tip 33a and the spot Pa of the rod 33 and the travel line L shown in FIG. The steering angle θs shown in FIG. 1 is finely adjusted by operating the steering wheel so that the spots Pa are both located on the travel line L. Thereby, the self-propelled cart 3 travels along the regular travel route.
[0035]
The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and even if there is a design change or the like without departing from the gist of the present invention. It is included in the present invention.
For example, in the self-propelled carriage according to the first embodiment described above, the example in which the right laser oscillator 16R shown in FIG. 3 is used as the light source has been described. However, the present invention is not limited to this, so long as it generates visible light. Any light source may be used. As an example, a projector lamp may be used instead of the right laser oscillator 16R.
[0036]
Moreover, in the self-propelled carriage according to the first and second embodiments described above, the example of the deck 5a of the cargo ship 5 has been described as its application range, but the self-propelled carriage is not limited to this example. It can be applied to any place such as a pallet place on the ground.
[0037]
【The invention's effect】
According to the first or second aspect of the invention, when the slit light is irradiated, an optical line is formed on the traveling road surface in the direction of the guide angle that is the same as the steering angle of the drive wheel. And since the driver | operator can recognize correctly the shift | offset | difference of a regular driving | running route and an actual driving | running route, he performs steering wheel operation so that the said optical line may be parallel or correspond with a driving | running | working line. Therefore, according to the first or second aspect of the invention, there is an effect that it is possible to accurately correct the deviation between the regular travel route and the actual travel route without being influenced by the skill level of the driver. can get.
[0038]
According to the third aspect of the present invention, when the first and second spot beam lights are respectively irradiated, two spots are obtained on the traveling surface, and the line connecting the spots and the axis line are formed. The guide angle matches the steering angle of the drive wheel. Then, the driver operates the steering wheel so that both spots are located on the travel line. Therefore, according to the third aspect of the present invention, there is an effect that the deviation between the regular travel route and the actual travel route can be corrected accurately.
[0039]
According to the fourth aspect of the present invention, when spot beam light is irradiated, a spot is obtained on the traveling road surface. Then, the driver operates the steering wheel so that the tip of the rod and the spot are located on the travel line. Therefore, according to the invention described in claim 4, it is possible to accurately correct the deviation between the regular travel route and the actual travel route with a simpler configuration than the inventions described in claims 1-3. The effect that it can be obtained.
[Brief description of the drawings]
FIG. 1 is a plan view showing a schematic configuration of a self-propelled carriage according to a first embodiment of the present invention.
FIG. 2 is a perspective view showing an external configuration of a travel guide device 10FR shown in FIG.
3 is a side sectional view showing an internal configuration of a slit light generator 14R shown in FIG.
4 is a front view showing a configuration of a slit light generator 14R shown in FIG. 2. FIG.
FIG. 5 is a block diagram showing an electrical configuration of the self-propelled carriage according to the first embodiment of the present invention.
FIG. 6 is a perspective view for explaining the operation of the self-propelled carriage according to the first embodiment of the present invention.
FIG. 7 is a perspective view showing a configuration of a travel guide apparatus 10AFR applied to the self-propelled carriage according to the second embodiment.
FIG. 8 is a schematic side view showing the configuration of a travel guide apparatus 10BFR applied to the self-propelled carriage according to the third embodiment.
FIG. 9 is a side view for explaining a conventional pallet conveying method using a self-propelled carriage.
FIG. 10 is a plan view for explaining a conventional pallet conveying method using a self-propelled carriage.
[Explanation of symbols]
3 Vehicle 5a Deck 61-612 Driving wheel 10FR, 10AFR, 10BFR Driving guide device 14R Slit light generator 16R Right laser oscillator 18 Slit member 18a Slit 20 Control units 311, 312 and 34 Spot beam light generator 33 Rod 33a Tip 35 L Travel line Os Slit light Ob1, Ob2, Oba Spot beam light H View line Pb View point θf Depression angle θg Guide angle Jx Axis line

Claims (4)

The vehicle has a substantially rectangular parallelepiped body, a driver's cab provided at the front of the vehicle body, and a plurality of drive wheels provided at the lower part of the vehicle body, and slanted along a traveling line applied to a traveling road surface. In self-propelled carts that are running or traversing,
A slit that is provided in the vicinity of the driver's cab and irradiates a slit light whose guide angle formed with the longitudinal axis of the vehicle body in the horizontal plane is equal to the steering angle of the plurality of drive wheels toward the traveling road surface Light irradiation means,
A self-propelled carriage characterized by comprising: The slit light irradiation means includes a light source that generates visible light, and slit light conversion means that is formed with a slit and converts the visible light into the slit light.
The self-propelled cart according to claim 1. The vehicle has a substantially rectangular parallelepiped body, a driver's cab provided at the front of the vehicle body, and a plurality of drive wheels provided at the lower part of the vehicle body, and slanted along a traveling line applied to a traveling road surface. In self-propelled carts that are running or traversing,
Provided in the vicinity of the cab, a guide angle formed with a longitudinal axis of the vehicle body in a horizontal plane is equal to a steering angle of the plurality of drive wheels, and the first spot beam light is directed to the traveling road surface. First spot beam light irradiation means for irradiating with a first depression angle toward the
A second spot beam light irradiating means that is provided in the vicinity of the cab and irradiates a second spot beam light having a guide angle equal to the steering angle toward the traveling road surface with a second depression angle; ,
A self-propelled carriage characterized by comprising: The vehicle has a substantially rectangular parallelepiped body, a driver's cab provided at the front of the vehicle body, and a plurality of drive wheels provided at the lower part of the vehicle body, and slanted along a traveling line applied to a traveling road surface. In self-propelled carts that are running or traversing,
A spot that is provided in the vicinity of the driver's cab and irradiates the traveling road surface with a spot beam light whose guide angle formed with the longitudinal axis of the vehicle body in the horizontal plane is the same as the steering angle of the plurality of driving wheels. Beam light irradiation means;
A rod vertically suspended in the vicinity of the driver's cab, the tip of which is located on a line of sight connecting a point on the line in the guide angle direction on the road surface and the driver's eyes;
A self-propelled carriage characterized by comprising.

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