Vehicle transport system

Abstract

To provide a vehicle transport device that can increase work efficiency.SOLUTION: In a vehicle transport device 10, a carriage 20 can enter under a vehicle being a transport object. A first arm part 28 has a pair of arms which is installed on the carriage 20 and can support one of front and rear wheels of the vehicle. A second arm part 32 has a pair of arms which is installed on the carriage 20 and can support the other of the front and rear wheels of the vehicle. An acquisition part acquires size information of the vehicle. A distance adjustment device 46 adjusts the distance between the first arm part 28 and the second arm part 32 according to the acquired size information of the vehicle while the vehicle transport device 10 is moving toward the position of the vehicle.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a vehicle transport device.

Background Art

[0002] Patent Document 1 discloses a loading platform lifting transport vehicle in which a loading platform moves up and down while moving forward or backward with respect to a vehicle body provided with a traveling device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is known a vehicle transport device that inserts a carriage under a four-wheeled vehicle, supports the vehicle by the arms provided on the carriage abutting against the respective wheels, and moves the vehicle in a state where the carriage is lifted to lift the vehicle. When such a vehicle transport device transports each of a plurality of vehicles of different sizes, it is necessary to adjust the position of the arm abutting against the wheel according to the position of the wheel of each vehicle. A technique of adjusting the position of the arm by expanding and contracting the carriage after inserting the carriage under the vehicle is conceivable, but it takes time and there is a possibility that the work efficiency may decrease.

[0005] An object of the present invention is to provide a vehicle transport device capable of improving work efficiency.

Means for Solving the Problems

[0006] To solve the above problems, a vehicle transport device according to one aspect of the present invention includes: a trolley that can fit under a vehicle to be transported; a first arm section provided on the trolley having a pair of arms capable of supporting one of the front or rear wheels of the vehicle; a second arm section provided on the trolley having a pair of arms capable of supporting the other of the front or rear wheels of the vehicle; an acquisition unit for acquiring size information of the vehicle; and a distance adjustment device that adjusts the distance between the first arm section and the second arm section according to the acquired size information of the vehicle while the vehicle transport device is moving toward the position of the vehicle. A height adjustment device for adjusting the height of the trolley, It is equipped with. The height adjustment device lowers the trolley to a position where it can fit underneath the vehicle while the vehicle transport device is moving toward the vehicle's position. Another aspect of the present invention is also a vehicle transport device. This device comprises a trolley that can fit under a vehicle to be transported; a first arm section provided on the trolley having a pair of arms capable of supporting one of the front or rear wheels of the vehicle; a second arm section provided on the trolley having a pair of arms capable of supporting the other of the front or rear wheels of the vehicle; an acquisition unit for acquiring size information of the vehicle; and a distance adjustment device that adjusts the distance between the first arm section and the second arm section according to the acquired size information of the vehicle while the vehicle transport device is moving toward the position of the vehicle. The distance adjustment device adjusts the distance between the first arm section and the second arm section to a distance equal to the wheelbase of the vehicle plus a predetermined length for fine adjustment. The first arm section has a first arm and a second arm extending along the left-right direction of the trolley, and the second arm section has a third arm and a fourth arm, and the second arm, third arm and fourth arm are configured to be rotatable between a first position extending along the front-rear direction of the trolley and a second position extending along the left-right direction, and the first arm, second arm, third arm and fourth arm are arranged in this order along the front-rear direction. When the vehicle transport device arrives in front of or behind the vehicle, the trolley moves under the vehicle from the fourth arm side with the second arm, third arm and fourth arm in the first position. When the third arm moves between the front and rear wheels of the vehicle, the third arm rotates to the second position, and the trolley moves until the third arm hits the other wheel. When the trolley stops, the fourth arm rotates to the second position, so that the third arm and the fourth arm sandwich the other wheel. When the third arm and the fourth arm grip the other wheel, the distance adjustment device moves the first arm portion toward the second arm until the first arm contacts the one wheel. When the first arm portion stops, the second arm rotates to the second position, so that the first arm and the second arm grip the one wheel. [Effects of the Invention]

[0007] According to the present invention, a vehicle transport device that can improve work efficiency can be provided. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram showing the configuration of the vehicle transport system according to the embodiment. [Figure 2] Figure 1 is a perspective view of the vehicle transport device. [Figure 3] Figures 3(a) and 3(b) are top views of the vehicle transport device shown in Figure 1. [Figure 4] Figures 4(a) and 4(b) are side views illustrating the operation of the vehicle transport device in Figure 1 in lowering the trolley. [Figure 5] This diagram shows the functional configuration of a vehicle transport system. [Figure 6] Figures 6(a) to 6(e) are top views showing the operation of a vehicle transport device in loading a vehicle. [Figure 7] Figures 7(a) and 7(b) are side views of the vehicle transport device shown in Figure 1 with vehicles loaded onto it. [Figure 8] Figures 8(a) to 8(e) are top views showing the operation of a comparative vehicle transport device in loading a vehicle. [Modes for carrying out the invention]

[0009] Figure 1 shows the configuration of the vehicle transport system 1 according to the embodiment. The vehicle transport system 1 is a system for transporting multiple vehicles to a predetermined destination, for example, in a finished vehicle yard where multiple vehicles manufactured at a vehicle assembly plant are parked. The predetermined destination is, for example, a parking position for loading the vehicles onto a car carrier or the like. The vehicles are automobiles with at least four wheels.

[0010] The vehicle transport system 1 comprises a plurality of vehicle transport devices 10 and a management device 12. The management device 12 communicates wirelessly with the vehicle transport devices 10. The management device 12 manages the plurality of vehicle transport devices 10 based on the vehicle logistics plan. The management device 12 transmits transport instructions to each of the plurality of vehicle transport devices 10. The transport instructions include information such as the location of the vehicle to be transported, information about the vehicle to be transported, the destination, the route, and the stopping points.

[0011] The vehicle transport device 10 has no occupants. The vehicle transport device 10 follows transport instructions received from the management device 12, travels to the location of the vehicle to be transported using automatic driving control, and loads the vehicle using automatic control. The vehicle to be transported also has no occupants, and is loaded onto the vehicle transport device 10 while parked. Next, the vehicle transport device 10 transports the loaded vehicle to its destination using automatic driving control and unloads the vehicle using automatic control. The vehicle transport device 10 periodically transmits its current location information and other data to the management device 12. The management device 12 manages the vehicle transport device 10 based on the received current location information and other data. The vehicle transport device 10 can also be called an automated vehicle transport robot or a lift transport trolley.

[0012] Figure 2 is a perspective view of the vehicle transport device 10 of FIG. 1. The vehicle transport device 10 includes a carriage 20, front wheels 22, rear wheels 24 (see FIG. 4), a main body 26, a first arm portion 28, a front arm drive portion 30, a second arm portion 32, a first rear arm drive portion 34a, a second rear arm drive portion 34b, a communication device 38, a control device 40, a travel drive device 42, a height adjustment device 44, a distance adjustment device 46, and a detection sensor 48.

[0013] The carriage 20 extends rearward from the main body 26 and extends longitudinally in the front-rear direction. The carriage 20 can enter under the vehicle to be transported. A pair of front wheels 22 are provided at the lower part of the main body 26. A pair of rear wheels 24 are provided on the rear side of the carriage 20 (see FIG. 4).

[0014] The main body 26 is provided at the front part of the vehicle transport device 10. Inside the main body 26, a communication device 38, a control device 40, a travel drive device 42, and a height adjustment device 44 are provided. The communication device 38 communicates with the management device 12. The communication device 38 receives a transport instruction regarding the next vehicle to be transported from the management device 12 and supplies the received transport instruction to the control device 40. The control device 40 controls the travel drive device 42, the height adjustment device 44, the distance adjustment device 46, the front arm drive portion 30, the first rear arm drive portion 34a, and the second rear arm drive portion 34b based on the transport instruction supplied from the communication device 38.

[0015] The travel drive device 42 includes a drive portion for advancing and retreating the vehicle transport device 10, a steering portion for steering the front wheels 22, and a braking portion for braking the front wheels 22. The drive portion may be, for example, a motor that rotates the front wheels 22.

[0016] The height adjustment device 44 adjusts the height of the carriage 20 from the ground. The height adjustment device 44 moves the carriage 20 up and down while keeping it horizontal. The height adjustment device 44 operates by an actuator. The height adjustment device 44 may adjust the height of the carriage 20 by operating, for example, an air spring, or may adjust the height of the carriage 20 by operating a hydraulic jack by motor drive.

[0017] The first arm part 28 is provided on the carriage 20. The first arm part 28 has two first arms 50a and two second arms 50b. The first arm 50a and the second arm 50b arranged on the left side of the carriage 20 are a pair of arms capable of supporting one of the front and rear wheels of the vehicle to be transported, for example, the left front wheel. The first arm 50a and the second arm 50b arranged on the right side of the carriage 20 are a pair of arms capable of supporting one of the front and rear wheels of the vehicle, for example, the right front wheel.

[0018] The two first arms 50a each extend along the left-right direction of the carriage 20 and are fixed to the carriage 20 in a state of protruding in the left-right direction. The left-right direction is a direction along the upper surface of the carriage 20 and perpendicular to the front-rear direction.

[0019] The two second arms 50b are each provided rotatably along the upper surface of the carriage 20 about a fixed point between a first position extending along the front-rear direction of the carriage 20 and a second position extending along the left-right direction. In FIG. 2, the second arm 50b is in the second position. The second arm 50b is provided rotatably so as to approach the first arm 50a when moving from the first position to the second position. The front arm drive part 30 is an actuator including, for example, a hydraulic cylinder, and rotates the second arm 50b between the first position and the second position. In a state where the carriage 20 enters under the vehicle, when the second arm 50b rotates from the first position to the second position, the first arm 50a and the second arm 50b support, for example, by sandwiching the front wheel.

[0020] The second arm part 32 is also provided on the carriage 20. The second arm part 32 has two third arms 50c and two fourth arms 50d. The third arm 50c and the fourth arm 50d arranged on the left side of the carriage 20 are a pair of arms capable of supporting the other of the front and rear wheels of the vehicle, for example, the left rear wheel. The third arm 50c and the fourth arm 50d arranged on the right side of the carriage 20 are a pair of arms capable of supporting the other of the front and rear wheels of the vehicle, for example, the right rear wheel.

[0021] The two third arms 50c and the two fourth arms 50d are each rotatably mounted along the upper surface of the trolley 20 around a fixed point between a first position and a second position. In Figure 2, the third arms 50c and the fourth arms 50d are each in the second position. The third arms 50c and the fourth arms 50d are rotatably mounted so that they approach each other when moving from the first position to the second position. The first rear arm drive unit 34a is an actuator including, for example, a hydraulic cylinder, which rotates the two third arms 50c between the first position and the second position. The second rear arm drive unit 34b is an actuator including, for example, a hydraulic cylinder, which rotates the two fourth arms 50d between the first position and the second position. With the trolley 20 positioned under the vehicle, the rotation of the third arms 50c and the fourth arms 50d from the first position to the second position allows them to support, for example, the rear wheels.

[0022] The first arm 50a, the second arm 50b, the third arm 50c, and the fourth arm 50d are arranged in this order along the front-rear direction from the main body 26 side.

[0023] The detection sensor 48 detects information used for the movement of the vehicle transport device 10 and the loading of vehicles, and supplies the detection results to the control device 40. The detection sensor 48 may be, for example, a camera, millimeter-wave radar, infrared laser, or acoustic sensor that detects objects, or a combination thereof. Based on the detection results of the detection sensor 48, the control device 40 can recognize the positional relationship between the vehicle and the vehicle transport device 10.

[0024] Here, the vehicle transport device 10 is assumed to transport multiple vehicles of different types. In this case, the distance between the front and rear wheels, i.e., the wheelbase, may differ depending on the vehicle being transported. For this reason, the vehicle transport device 10 can adjust the longitudinal position of the first arm 28 to match the wheelbase of the vehicle being transported. The vehicle transport device 10 may also be able to adjust the longitudinal position of the second arm 32.

[0025] Figures 3(a) and 3(b) are top views of the vehicle transport device 10 shown in Figure 1. Figure 3(a) shows a state in which the distance between the first arm portion 28 and the second arm portion 32 is relatively long. Figure 3(b) shows a state in which the first arm portion 28 slides backward, and the distance between the first arm portion 28 and the second arm portion 32 is relatively short.

[0026] The vehicle transport device 10 includes a sliding mechanism that allows the first arm section 28 and the front arm drive section 30 to slide independently of the trolley 20 along the front-rear direction.

[0027] The top plate 60 covers a portion of the upper surface of the trolley 20. Sliding members (not shown) are provided on the underside of the top plate 60, on each side of the trolley 20, and slide independently of the trolley 20 along the front-rear direction of the trolley 20. The sliding members fit into rail portions provided on each side of the trolley 20 and slide. The sliding members on both sides of the trolley 20 are connected by the top plate 60. The first arm portion 28 and the front arm drive portion 30 are connected to the sliding members.

[0028] The distance adjustment device 46 adjusts the distance between the first arm section 28 and the second arm section 32. The distance adjustment device 46 is an actuator, for example, including a hydraulic cylinder. The actuator of the distance adjustment device 46 is coupled between the trolley 20 and the sliding member. As the actuator of the distance adjustment device 46 extends and retracts, the first arm section 28 and the front arm drive unit 30 slide in the front-rear direction independently of the trolley 20, together with the sliding member and the top plate 60. The trolley 20 does not extend or retract.

[0029] As shown in Figure 3(b), the actuator of the distance adjustment device 46 pushes the first arm portion 28 and the forward arm drive unit 30 toward the second arm portion 32, causing the first arm portion 28 to move closer to the second arm portion 32.

[0030] For the distance adjustment device 46 to adjust the distance between the first arm portion 28 and the second arm portion 32, it takes, for example, ten seconds or more.

[0031] Furthermore, in order for the vehicle transport device 10 to load a vehicle, it is necessary to lower the trolley 20 and insert the lowered trolley 20 under the vehicle. For the height adjustment device 44 to lower the trolley, it takes, for example, several tens of seconds.

[0032] In this comparative example, when the vehicle transport device 10 arrives at a predetermined position in front of or behind the vehicle, it pauses, adjusts the distance between the first arm 28 and the second arm 32, lowers the trolley 20, and then resumes movement so that the trolley 20 goes under the vehicle. However, in order to efficiently transport multiple vehicles with a small number of vehicle transport devices 10, it is desirable to shorten the working time from when the vehicle transport device 10 starts moving toward the vehicle to be transported until the transport of the vehicle to its destination is completed compared to the comparative example.

[0033] Therefore, in this embodiment, the adjustment of the distance between the first arm portion 28 and the second arm portion 32, and the operation of lowering the trolley 20 are completed while the vehicle transport device 10 is moving toward the vehicle to be transported, that is, before the vehicle transport device 10 arrives at a predetermined position in front of or behind the vehicle. As a result, the working time can be shortened and the work efficiency can be improved compared to the comparative example.

[0034] Figures 4(a) and 4(b) are side views illustrating the operation of the vehicle transport device 10 in Figure 1 in which the trolley 20 is lowered. Figure 4(a) shows the vehicle transport device 10 lowering the trolley 20 while moving toward the vehicle 100. The vehicle transport device 10 is moving backward toward the front of the vehicle 100 while lowering the trolley 20.

[0035] Figure 4(b) shows the vehicle transport device 10 arriving at a predetermined position in front of the vehicle 100. At the point shown in Figure 4(b), the operation of lowering the trolley 20 is completed. Therefore, the vehicle transport device 10 does not pause at this predetermined position, but continues to reverse to place the trolley 20 under the vehicle 100. Since it does not pause at the predetermined position, the work time can be shortened.

[0036] The vehicle transport device 10 can travel using the front wheels 22 and rear wheels 24 in the following states: when the trolley 20 is lowered, when the height of the trolley 20 is being adjusted, and when the trolley 20 is raised.

[0037] Although Figure 4 shows the vehicle transport device 10 loading the vehicle 100 from the front, the vehicle 100 may also be loaded from the rear.

[0038] Figure 5 shows the functional configuration of the vehicle transport device 10. The control device 40 comprises an acquisition unit 70, a position acquisition unit 72, a predicted time acquisition unit 74, and a control unit 76. The configuration of the control device 40 can be realized in hardware terms using the CPU, memory, and other LSIs of any computer, and in software terms using programs loaded into memory, but here we are depicting the functional blocks realized by the cooperation of these components. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways using only hardware, only software, or a combination thereof.

[0039] The acquisition unit 70 acquires the transport instruction received by the communication device 38 and the detection result of the detection sensor 48, and supplies the acquired information to the control unit 76. The information of the vehicle 100 to be transported included in the transport instruction includes the size information of the vehicle 100. The size information includes the wheelbase information of the vehicle 100.

[0040] The position acquisition unit 72 periodically acquires the position of the vehicle transport device 10 and outputs the acquired position information to the control unit 76, the predicted time acquisition unit 74, and the communication device 38. The position acquisition unit 72 includes, for example, a GPS receiver, which receives signals from GPS satellites and derives the position of its own device based on the received signals.

[0041] The control unit 76 controls the driving drive unit 42 according to the transport instructions supplied from the acquisition unit 70, the detection results from the detection sensor 48, and the position information supplied from the position acquisition unit 72, to make the vehicle transport device 10 autonomously travel toward the position of the vehicle 100. Known autonomous driving technologies can be used for autonomous driving.

[0042] The control unit 76 operates the distance adjustment device 46 based on the size information of the vehicle 100 while the vehicle transport device 10 is moving toward the vehicle 100. The distance adjustment device 46 adjusts the distance between the first arm section 28 and the second arm section 32 according to the acquired size information of the vehicle 100 while the vehicle transport device 10 is moving toward the vehicle 100, in accordance with the control unit 76. As described above, the first arm section 28 and the front arm drive section 30 slide independently of the trolley 20, so they do not affect the autonomous driving of the vehicle transport device 10. The overall length of the vehicle transport device 10 does not change, so there is no need to change the parameters for autonomous driving control.

[0043] Specifically, the distance adjustment device 46 adjusts the distance between the first arm portion 28 and the second arm portion 32 to a distance equal to the wheelbase of the vehicle 100 plus a predetermined length for fine adjustment. The distance between the first arm portion 28 and the second arm portion 32 is, for example, the distance from the rear surface of the first arm 50a to the rear surface of the third arm 50c in the second position. The predetermined length may be, for example, 50 mm to 100 mm and can be appropriately determined by experiment or simulation.

[0044] The distance adjustment device 46 completes the distance adjustment operation between the first arm portion 28 and the second arm portion 32 before the vehicle transport device 10 arrives at a predetermined position in front of or behind the vehicle 100, that is, before the trolley 20 goes under the vehicle 100. As long as the distance adjustment operation is completed before the vehicle transport device 10 arrives at the predetermined position, the distance adjustment device 46 may start the distance adjustment operation at any timing.

[0045] This eliminates the need to adjust the distance between the first arm 28 and the second arm 32 after the vehicle transport device 10 arrives at a predetermined position in front of or behind the vehicle 100. Therefore, the time required to load the vehicle 100 can be reduced.

[0046] Furthermore, the control unit 76 activates the height adjustment device 44 while the vehicle transport device 10 is moving toward the vehicle 100. The height adjustment device 44, in accordance with the control of the control unit 76, lowers the trolley 20 to a position where it can fit under the vehicle 100 while the vehicle transport device 10 is moving toward the vehicle 100. The position where it can fit under the vehicle 100 is predetermined. The vehicle transport device 10 continues to move even while it is lowering the trolley 20. The height adjustment device 44 completes the operation of lowering the trolley 20 by the time the vehicle transport device 10 arrives at a predetermined position in front of or behind the vehicle 100.

[0047] As a result, as soon as the vehicle transport device 10 arrives at a predetermined position in front of or behind the vehicle 100, the trolley 20 can be moved under the vehicle 100, thus reducing the time required to load the vehicle 100.

[0048] The predicted time acquisition unit 74 periodically derives the predicted time until the vehicle transport device 10 arrives at a predetermined position in front of or behind the vehicle 100, based on the current position, the position of the vehicle 100, and the travel path, and acquires the derived predicted time. The predicted time acquisition unit 74 supplies the acquired predicted time to the control unit 76. This predicted time may also be derived by the management device 12 and transmitted to the vehicle transport device 10. In this case, the predicted time acquisition unit 74 acquires the predicted time information received by the communication device 38.

[0049] The height adjustment device 44, in accordance with the control unit 76, starts lowering the trolley 20 when the predicted time until the vehicle transport device 10 arrives at a predetermined position in front of or behind the vehicle 100 becomes the time required for the trolley 20 to be lowered. In this case, the height adjustment device 44 completes the operation to lower the trolley 20 when the vehicle transport device 10 arrives at the predetermined position in front of or behind the vehicle 100. The time required for the operation to lower the trolley 20 can be appropriately determined by experimentation and is stored in advance in a memory unit (not shown).

[0050] As a result, the vehicle transport device 10 can travel with the trolley 20 in the raised position without lowering it until the predicted time to reach the vehicle 100 is equal to the time required to lower the trolley 20. Therefore, the vehicle transport device 10 can easily move even on uneven road surfaces. For example, the road surface of a finished vehicle yard may have irregularities for drainage. Unlike the embodiment, if we assume that the vehicle transport device travels with the trolley lowered to a position where it can get under the vehicle 100 from the moment it starts moving towards the vehicle 100, these irregularities may make it difficult for the vehicle transport device to travel.

[0051] Furthermore, the operation of the distance adjustment device 46 to adjust the distance and the operation of the height adjustment device 44 to lower the trolley 20 may be performed in parallel or in separate periods.

[0052] Next, the operation of the vehicle transport device 10 in loading the vehicle 100 will be described. Figures 6(a) to 6(e) are top views showing the operation of the vehicle transport device 10 in loading the vehicle 100. In Figures 6(b) to 6(e), the front wheels 102 and rear wheels 104 of the vehicle 100 to be transported are shown, but the body of the vehicle 100 is not shown.

[0053] As shown in Figure 4(b) above, when the vehicle transport device 10 arrives in front of the vehicle 100, as shown in Figure 6(a), with the second arm 50b, the third arm 50c, and the fourth arm 50d in their first positions, the trolley 20 moves under the vehicle 100 from the fourth arm 50d side by the drive of the travel drive device 42.

[0054] When the third arm 50c enters between the front wheel 102 and rear wheel 104 of the vehicle 100, as shown in Figure 6(b), the control unit 76 controls the first rear arm drive unit 34a to rotate the third arm 50c to the second position, and the trolley 20 moves until the third arm 50c hits the rear wheel 104. As shown in Figure 6(c), the trolley 20 stops when the third arm 50c hits the rear wheel 104. The third arm 50c hits the tread portion of the tire of the rear wheel 104. The fact that the third arm 50c has hit the rear wheel 104 can be detected by known techniques, for example, by a sensor (not shown) that detects the force applied to the third arm 50c, or by using the detection result of the detection sensor 48.

[0055] As previously described, the distance between the first arm 28 and the second arm 32 is adjusted to be slightly longer than the wheelbase of the vehicle 100, so that the first arm 50a does not come into contact with the front wheel 102, and the third arm 50c comes into contact with the rear wheel 104.

[0056] When the trolley 20 stops, as shown in Figure 6(d), the control unit 76 controls the second rear arm drive unit 34b, causing the fourth arm 50d to rotate to the second position, so that the third arm 50c and the fourth arm 50d sandwich the rear wheel 104.

[0057] When the third arm 50c and the fourth arm 50d grip the rear wheel 104, as shown in Figure 6(e), the distance adjustment device 46 moves the first arm portion 28 slightly toward the second arm portion 32 until the first arm 50a touches the front wheel 102. In other words, the distance adjustment device 46 fine-tunes the position of the first arm portion 28. When the first arm portion 28 stops, the control unit 76 controls the front arm drive unit 30, and the second arm 50b rotates to the second position, so that the first arm 50a and the second arm 50b grip the front wheel 102.

[0058] Thus, the distance between the pre-adjusted first arm 28 and second arm 32 is longer than the wheelbase of the vehicle 100 by a predetermined length for fine adjustment, allowing the position of the first arm 28 to be finely adjusted after the third arm 50c and fourth arm 50d have gripped the rear wheel 104. This makes it easier to absorb positional misalignment when the front-to-rear direction of the bogie 20 that fits under the vehicle 100 is slightly oblique to the front-to-rear direction of the vehicle 100.

[0059] Figures 7(a) and 7(b) are side views of the vehicle transport device 10 of Figure 1 with the vehicle 100 loaded on it. Figure 7(a) shows the vehicle 100 fixed to the lowered trolley 20. Figure 7(a) corresponds to the side view of Figure 6(e). Figure 7(b) shows the trolley 20 in the raised position. As shown in Figure 7(b), the vehicle transport device 10 lifts the vehicle 100 by raising the trolley 20 and transports the vehicle 100 by moving it in this position.

[0060] Here, we will describe another comparative example in which the position of the arm is adjusted by inserting a trolley under the vehicle 100 and then extending or retracting the trolley. Figures 8(a) to 8(e) are top views showing the operation of the vehicle transport device 10X of the comparative example in which the vehicle 100 is loaded. Figures 8(b) to 8(e) show the front wheels 102 and rear wheels 104 of the vehicle 100, but do not show the body of the vehicle 100.

[0061] The comparative vehicle transport device 10X is propelled by a pair of front wheels 22X provided on the main body 26X and a pair of rear wheels 24X provided at the rear of the trolley 20X. The trolley 20X is extendable and retractable.

[0062] When the vehicle transport device 10X arrives in front of the vehicle 100, it pauses and lowers the trolley 20X. After the trolley 20X has finished lowering, as shown in Figure 8(a), with the second arm 50b, the third arm 50c, and the fourth arm 50d in their first positions, the front wheels 22X are driven, causing the trolley 20X to move under the vehicle 100 from the fourth arm 50d side. The second arm 50b and the third arm 50c in their first positions are stored in the trolley 20X and are not shown.

[0063] As shown in Figure 8(b), when the first arm 50a strikes the front wheel 102 of the vehicle 100, the drive of the front wheel 22X is stopped, the trolley 20X stops moving, and the third arm 50c rotates to the second position.

[0064] Next, as shown in Figure 8(c), the bogie 20X extends backward until the third arm 50c contacts the rear wheel 104. The rear of the bogie 20X is pushed backward, for example by an actuator, causing the bogie 20X to extend. In other words, the positions of the third arm 50c and the fourth arm 50d are adjusted to match the wheelbase of the vehicle 100.

[0065] Next, as shown in Figure 8(d), the second arm 50b rotates to the second position, so that the first arm 50a and the second arm 50b sandwich the front wheel 102. Also, the fourth arm 50d rotates to the second position, so that the third arm 50c and the fourth arm 50d sandwich the rear wheel 104.

[0066] In this comparative example, the time from when the trolley 20X begins to move under the vehicle 100 until the front and rear wheels are secured is generally longer than in the embodiment, by the amount of time required to extend the trolley 20X backward until the third arm 50c contacts the rear wheels 104.

[0067] Furthermore, consider the case where the vehicle 100 is relatively light in weight, or where the vehicle 100 is a manual transmission vehicle and the parking brake is not fully engaged, and the force extending the bogie 20X backward is relatively strong. In this case, as shown in Figure 8(c), when the bogie 20X extends backward until the third arm 50c hits the rear wheel 104, the rear wheel 104 is pushed by the third arm 50c, and the vehicle 100 may move backward as shown in Figure 8(e). On the other hand, in the embodiment, even if the force with which the distance adjustment device 46 moves the first arm portion 28 toward the second arm portion 32 is relatively strong in Figure 6(e), the rear wheel 104 is fixed, making it difficult for the vehicle 100 to move backward.

[0068] The present invention has been described above based on embodiments. The embodiments are merely illustrative, and it will be understood by those skilled in the art that various modifications are possible in combinations of each component and each processing process, and that such modifications also fall within the scope of the present invention.

[0069] For example, in environments where the road surface is smooth and the vehicle transport device 10 can easily travel even with the trolley 20 lowered, the height adjustment device 44 may start lowering the trolley 20 at any time, as long as the operation to lower the trolley 20 is completed before the vehicle transport device 10 arrives at a predetermined position. For example, the height adjustment device 44 may start lowering the trolley 20 when the vehicle transport device 10 starts moving. In this modified example, the predicted time acquisition unit 74 is unnecessary, and control can be simplified.

[0070] Furthermore, the control device 12 may derive an estimated time until the vehicle transport device 10 arrives at a predetermined position in front of or behind the vehicle, and when the estimated time becomes the time required to lower the trolley 20, it may transmit an instruction to the vehicle transport device 10 to start lowering the trolley 20. In this case, when the communication device 38 receives the instruction to start lowering the trolley 20, the control unit 76 causes the height adjustment device 44 to start lowering the trolley 20. In this modified example, the processing of the control device 40 can be simplified.

[0071] Furthermore, in this embodiment, the four arms of the first arm section 28 slide integrally in the front-rear direction, but this is not limited to this. The pair of first arms 50a and second arms 50b on the left side of the bogie 20, and the left front arm drive unit 30 are referred to as the left first arm mechanism. The pair of first arms 50a and second arms 50b on the right side, and the right front arm drive unit 30 are referred to as the right first arm mechanism. The left first arm mechanism and the right first arm mechanism may not be coupled and may slide independently in the front-rear direction. The distance adjustment device 46 can move the left first arm mechanism and the right first arm mechanism individually. When adjusting before the bogie 20 enters under the vehicle 100, the distance adjustment device 46 moves the left first arm mechanism and the right first arm mechanism by the same distance to align the front-rear positions of the two first arms 50a. In the state shown in Figure 6(e), the distance adjustment device 46 moves the left first arm mechanism toward the second arm section 32 until the left first arm 50a hits the left front wheel 102, and moves the right first arm mechanism toward the second arm section 32 until the right first arm 50a hits the right front wheel 102. This makes it easier to make finer adjustments when the longitudinal direction of the bogie 20 that is positioned under the vehicle 100 is slightly oblique to the longitudinal direction of the vehicle 100. [Explanation of Symbols]

[0072] 1...Vehicle transport system, 10...Vehicle transport device, 12...Management device, 20...Cart, 22...Front wheel, 24...Rear wheel, 26...Main body, 28...First arm section, 30...Front arm drive unit, 32...Second arm section, 34a...First rear arm drive unit, 34b...Second rear arm drive unit, 38...Communication device, 40...Control device, 42...Travel drive unit, 44...Height adjustment device, 46...Distance adjustment device, 48...Detection sensor, 50a...First arm, 50b...Second arm, 50c...Third arm, 50d...Fourth arm, 70...Acquisition unit, 72...Position acquisition unit, 74...Predicted time acquisition unit, 76...Control unit, 100...Vehicle, 102...Front wheel, 104...Rear wheel.

Claims

1. A vehicle transport device, A trolley that can fit under the vehicle being transported, The trolley is provided with a first arm section having a pair of arms capable of supporting one of the front or rear wheels of the vehicle, The trolley is provided with a second arm section having a pair of arms capable of supporting the other wheel of the vehicle's front and rear wheels, An acquisition unit that acquires the size information of the aforementioned vehicle, A distance adjustment device adjusts the distance between the first arm and the second arm according to the acquired size information of the vehicle while the vehicle transport device is moving toward the position of the vehicle. A height adjustment device for adjusting the height of the trolley, Equipped with, The height adjustment device lowers the trolley to a position where it can fit under the vehicle while the vehicle transport device is moving toward the vehicle's position. A vehicle transport device characterized by the following features.

2. The height adjustment device starts lowering the trolley when the predicted time until the vehicle transport device arrives in front of or behind the vehicle becomes the time required to lower the trolley. The vehicle transport device according to feature 1.

3. The distance adjustment device adjusts the distance between the first arm and the second arm to a distance equal to the wheelbase of the vehicle plus a predetermined length for fine adjustment. The vehicle transport device according to feature 1 or 2.

4. The first arm portion comprises a first arm extending along the left-right direction of the trolley and a second arm. The aforementioned second arm portion includes a third arm and a fourth arm, The second arm, the third arm, and the fourth arm are each configured to be rotatable between a first position extending along the front-rear direction of the trolley and a second position extending along the left-right direction. The first arm, the second arm, the third arm, and the fourth arm are arranged in this order along the front-rear direction. When the vehicle transport device arrives in front of or behind the vehicle, the trolley moves under the vehicle from the fourth arm side, with the second arm, the third arm, and the fourth arm in the first position. When the third arm enters between the front and rear wheels of the vehicle, the third arm rotates to the second position, and the trolley moves until the third arm contacts the other wheel. When the trolley stops, the fourth arm rotates to the second position, causing the third arm and the fourth arm to grip the other wheel. When the third arm and the fourth arm clamp the other wheel, the distance adjustment device moves the first arm portion toward the second arm until the first arm contacts the one wheel. When the first arm stops, the second arm rotates to the second position, so that the first arm and the second arm clamp one of the wheels. The vehicle transport device according to feature 3.

5. A vehicle transport device, A trolley that can fit under the vehicle being transported, The trolley is provided with a first arm section having a pair of arms capable of supporting one of the front or rear wheels of the vehicle, The trolley is provided with a second arm section having a pair of arms capable of supporting the other wheel of the vehicle's front and rear wheels, An acquisition unit that acquires the size information of the aforementioned vehicle, A distance adjustment device adjusts the distance between the first arm and the second arm according to the acquired size information of the vehicle while the vehicle transport device is moving toward the position of the vehicle. Equipped with, The distance adjustment device adjusts the distance between the first arm and the second arm to a distance equal to the wheelbase of the vehicle plus a predetermined length for fine adjustment. The first arm portion comprises a first arm extending along the left-right direction of the trolley and a second arm. The aforementioned second arm portion includes a third arm and a fourth arm, The second arm, the third arm, and the fourth arm are each configured to be rotatable between a first position extending along the front-rear direction of the trolley and a second position extending along the left-right direction. The first arm, the second arm, the third arm, and the fourth arm are arranged in this order along the front-rear direction. When the vehicle transport device arrives in front of or behind the vehicle, the trolley moves under the vehicle from the fourth arm side, with the second arm, the third arm, and the fourth arm in the first position. When the third arm enters between the front and rear wheels of the vehicle, the third arm rotates to the second position, and the trolley moves until the third arm contacts the other wheel. When the trolley stops, the fourth arm rotates to the second position, causing the third arm and the fourth arm to grip the other wheel. When the third arm and the fourth arm clamp the other wheel, the distance adjustment device moves the first arm portion toward the second arm until the first arm contacts the one wheel. When the first arm stops, the second arm rotates to the second position, so that the first arm and the second arm clamp one of the wheels. A vehicle transport device characterized by the following features.

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