Carriage conveying equipment

• US 4,972,917 A
• Filed: 03/30/1989
• Issued: 11/27/1990
• Est. Priority Date: 03/30/1989
• Status: Expired due to Fees

• Current Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Original Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Inventors: Nakajima, Yasutaka, Fujikawa, Kouichi, Mino, Nobuo, Tanioku, Haruo, Matsumoto, Yoshihiro, Higaki, Norihide
• Primary Examiner(s): NOT, DEFINED
• Assistant Examiner(s): Kagen, Alan M.
• Application Number:
  US07/334,887
• Time in Patent Office: 607 Days
• Field of Search: 180/15, 180/196, 180/209, 180/168, 180/198, 180/210, 180/201, 180/212, 180/53.3, 180/199, 414/556, 414/551, 414/549, 414/546, 414/541, 414/535, 414/532, 414/529, 254/6 R, 254/6 C, 254/2 C, 193/35 A, 193/35 C, 280/435.1, 280/479.1, 280/477
• US Class Current: 180/168
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 11/04 by means of separate power sources
• CPC Class Codes: G05D 1/0263 using magnetic strips

Abstract

A carriage conveying apparatus has a loaded carriage to be conveyed, and a driving vehicle for coupling, towing and conveying the carriage from below the carriage. Since the vertical load of the carriage is transmitted to the driving vehicle, controlled to a proper magnitude, the driving vehicle may be reduced in size and weight, and it is also possible to have stable travel if the carriage is empty. By designing all three wheels so as to be driven and steered, sideways and spin-turn motions are realized. By providing recognition marks and detecting means, it is possible to position the driving vehicle accurately if the setting position of the carriage deviates.

Claims

1. A carriage conveying apparatus, comprising:

a carriage to be conveyed, said carriage having a carriage body having an upper load supporting surface and an underside, and said carriage body having a plurality of wheels connected thereto for movably supporting said carriage body;

a driving vehicle for connection with and conveyance of said carriage to be conveyed, said driving vehicle comprising a car body having a height such that the entire said driving vehicle can pass below said underside of said carriage body;

a coupling part connected to said underside of said carriage body for connection with said driving vehicle;

a coupling means on said driving vehicle for engaging and coupling with said coupling part on said carriage body such that said driving vehicle receives a substantially vertical reaction force due to the weight of said carriage;

first recognition marks for being detected by said driving vehicle disposed on said underside of said carriage body, said first recognition marks being elongated in a direction of conveyance of said carriage to be conveyed; and

first detecting means on said driving vehicle for detecting said first recognition marks when said driving vehicle moves under said carriage body so as to properly position said driving vehicle under said carriage body.

2. The carriage conveying apparatus as set forth in claim 1, wherein:

said driving vehicle further comprises three driving wheels, a front wheel located at a front portion of said driving vehicle and forming the apex of an isosceles triangle and a pair of rear wheels located at a rear portion of said driving vehicle and forming the two base corners of the isosceles triangle, and steering means for steering said front wheel and said pair of rear wheels.

3. The carriage conveying apparatus as set forth in claim 2, wherein:

said steering means comprises a first steering mechanism for steering said front wheel and a second steering mechanism for steering said pair of rear wheels in cooperation with each other but in mutually opposite directions.

4. The carriage conveying means as set forth in claim 1, 2 or 3, wherein:

said coupling means on said driving vehicle comprises an engaging member for elevational movement with respect to said driving vehicle so as to be able to engage said coupling part on said carriage body, an elevating member for elevating said engaging member, driving means for vertically driving said elevating member, and an elastic element operably connecting said engaging member and said elevating member.

5. A carriage conveying apparatus, comprising:

a carriage to be conveyed, said carriage having a carriage body having an upper surface and an underside and means for movably supporting said carriage body spaced from a support surface on which said carriage is to be moved;

a driving vehicle for connection with and conveyance of said carriage to be conveyed, said driving vehicle having a height such that said driving vehicle can move in between said underside of said carriage body and the support surface when said carriage is supported by said support surface;

a coupling part connected to said underside of said carriage body for connection with said driving vehicle;

a coupling means on said driving vehicle for engaging and coupling with said coupling part on said carriage body such that said driving vehicle receives a substantially vertical reaction force due to the weight of said carriage;

first recognition marks for being detected by said driving vehicle disposed on said underside of said carriage body, said first recognition marks being elongated in a direction of conveyance of said carriage to be conveyed; and

first detecting means on said driving vehicle for detecting said first recognition marks when said driving vehicle moves under said carriage body so as to properly position said driving vehicle under said carriage body.

6. The carriage conveying apparatus as set forth in claim 5, wherein:

said first detecting means detects said first recognition marks to properly position said driving vehicle when said driving vehicle moves under said carriage body from one side thereof in a direction substantially perpendicular to said direction of conveyance.

7. The carriage conveying apparatus as set forth in claim 5, wherein:

a second recognition mark is disposed on one side of said carriage body; and

a second detecting means is disposed on said driving vehicle for detecting said second recognition mark.

8. The carriage conveying apparatus as set forth in claim 7, wherein:

said second detecting means detects said second recognition mark to properly position said driving vehicle adjacent said carriage in said direction of said conveyance before said driving vehicle moves under said carriage body.

9. The carriage conveying apparatus as set forth in claim 5 or 7, wherein:

said first detecting means comprises a pair of detectors disposed at a predetermined interval in the longitudinal direction of said driving vehicle, and said first recognition marks are disposed so as to correspond with said detectors, respectively.

10. A carriage conveying apparatus, comprising:

a carriage to be conveyed, said carriage having a carriage body having an upper surface and an underside and means for movably supporting said carriage body spaced from a support surface on which said carriage is to be moved;

a driving vehicle for connection with and conveyance of said carriage to be conveyed, said driving vehicle having a height such that said driving vehicle can move in between said underside of said carriage body and the support surface when said carriage is supported by said support surface;

a coupling part connected to said underside of said carriage body for connection with said driving vehicle;

a coupling means on said driving vehicle for engaging and coupling with said coupling part on said carriage body such that said driving vehicle receives a substantially vertical reaction force due to the weight of said carriage;

first recognition marks for being detected by said driving vehicle disposed on said underside of said carriage body, said first recognition marks being elongated in a direction of conveyance of said carriage to be conveyed, and

first detecting means on said driving vehicle for detecting said first recognition marks when said driving vehicle moves under said carriage body so as to properly position said driving vehicle under said carriage body;

a second recognition mark is disposed on one side of said carriage body;

a second detecting means is disposed on said driving vehicle for detecting said second recognition mark;

a third recognition mark on said underside of said carriage extending substantially in a direction perpendicular to said direction of conveyance; and

third detecting means on said driving vehicle for detecting said third recognition mark.

11. The carriage conveying apparatus as set forth in claim 10, wherein:

said third detecting means detects said third recognition mark when said driving vehicle is under said carriage to properly position said driving vehicle in said direction of conveyance and substantially align said coupling means with said coupling part.

12. The carriage conveying apparatus, comprising:

a carriage to be conveyed, said carriage having a carriage body having an upper surface and an underside and means for movably supporting said carriage body spaced from a support surface on which said carriage is to be moved;

a driving vehicle for connection with and conveyance of said carriage to be conveyed, said driving vehicle having a height such that said driving vehicle can move in between said underside of said carriage body and the support surface when said carriage is supported by said support surface;

a coupling part connected to said underside of said carriage body for connection with said driving vehicle;

a coupling means on said driving vehicle for engaging and coupling with said coupling part on said carriage body such that said driving vehicle receives a substantially vertical reaction force due to the weight of said carriage;

said means for movably supporting said carriage body comprising a pair of front wheels mounted to said carriage body so as to be rotatable about a horizontal axis and freely pivotable about a vertical axis and a pair of rear wheels mounted to said carriage body so as to be rotatable about a horizontal axis and fixed with respect to pivotal movement about a vertical axis;

wherein said coupling part on said carriage body is disposed substantially at the middle of said underside of said carriage body at the end of said carriage body whereat said front wheels are mounted;

first recognition marks for being detected by said driving vehicle disposed on said underside of said carriage body, said first recognition marks being elongated in a direction of conveyance of said carriage to be conveyed; and

first detecting means on said driving vehicle for detecting said first recognition marks when said driving vehicle moves under said carriage body so as to properly position said driving vehicle under said carriage body.

13. A carriage conveying apparatus, comprising:

a carriage to be conveyed, said carriage having a carriage body having an upper surface and an underside and means for movably supporting said carriage body spaced from a support surface on which said carriage is to be moved;

a driving vehicle for connection with and conveyance of said carriage to be conveyed, said driving vehicle having a height such that said driving vehicle can move in between said underside of said carriage body and the support surface when said carriage is supported by said support surface;

said means for movably supporting said carriage body comprising a pair of front wheels mounted to said carriage body so as to be rotatable about a horizontal axis and fixed with respect to pivotal movement about a vertical axis and a pair of rear wheels mounted to said carriage body so as to be rotatable about a horizontal axis and freely pivotable about a vertical axis;

a pair of coupling parts, connected to said underside of said carriage body at the end of said carriage body whereat said front wheels are mounted, for connection with said driving vehicle;

a pair of separate coupling means on said driving vehicle for engaging and coupling with said coupling parts, respectively, on said carriage body, and for lifting said carriage body at said front wheel end such that said driving vehicle receives a substantially vertical reaction force due to the weight of said carriage and said front wheels are raised substantially off of the support surface;

first recognition marks for being detected by said driving vehicle disposed on said underside of said carriage body, said first recognition marks being elongated in a direction of conveyance of said carriage to be conveyed; and

first detecting means on said driving vehicle for detecting said first recognition marks when said driving vehicle moves under said carriage body so as to properly position said driving vehicle under said carriage body.

14. A carriage conveying apparatus, comprising:

a carriage to be conveyed, said carriage having a carriage body having an upper surface and an underside and means for movably supporting said carriage body spaced from a support surface on which said carriage is to be moved;

a driving vehicle for connection with and conveyance of said carriage to be conveyed, said driving vehicle having a height such that said driving vehicle can move in between said underside of said carriage body and the support surface when said carriage is supported by said support surface;

said means for movably supporting said carriage body comprising a pair of front wheels and a pair of rear wheels mounted to said carriage body so as to be rotatable about a horizontal axis and freely pivotable about a vertical axis;

a pair of coupling parts, connected to said underside of said carriage body at the end of said carriage body whereat said front wheels are mounted, for connection with said driving vehicle;

a pair of separate coupling means on said driving vehicle for engaging and coupling with said coupling parts, respectively, on said carriage body such that said driving vehicle receives a substantially vertical reaction force due to the weight of said carriage;

first recognition marks for being detected by said driving vehicle disposed on said underside of said carriage body, said first recognition marks being elongated in a direction of conveyance of said carriage to be conveyed; and

first detecting means on said driving vehicle for detecting said first recognition marks when said driving vehicle moves under said carriage body so as to properly position said driving vehicle under said carriage body.

15. The carriage conveying apparatus, comprising:

a carriage to be conveyed, said carriage having a carriage body having an upper surface and an underside and means for movably supporting said carriage body spaced from a support surface on which said carriage is tobe moved;

a driving vehicle for connection with and conveyance of said carriage to be conveyed, said driving vehicle having a height such that said driving vehicle can move in between said underside of said carraige body and the support surface when said carraige is supported by said support surface;

a coupling part connected to said underside of said carriage body for connection with said driving vehicle;

a coupling means on said driving vehicle for engaging and coupling with said coupling part on said carraige body such that said driving vehicle receivs a substantially vertical reaction force due to the weight of said carriage;

first recognition marks for being detected by said driving vehicle disposed on said underside of said carriage body, said first recognition marks being elongated in a direction of conveyance of said carriage to be conveyed; and

first detecting means on said driving vehicle for detecting said first recognition marks when said driving vehicle moves under said carriage body so as to properly position said driving vehicle under said carriage body;

said carriage body comprising a pair of front wheels mounted to said carriage body so as to be rotatable about a horizontal axis and freely pivotable about as vertical axis and a pair of rear wheels mounted to said carriage body so as to be rotatable about a horizontal axis and fixed with respect to pivotal movement about a vertical axis;

wherein said coupling part on said carriage body is disposed substantially at the middle of said underside of said carriage body at the end of said carriage body whereat said front wheels are mounted.