JP2023127030A - Vehicle transport device and vehicle transport method - Google Patents

Abstract

An object of the present invention is to provide a vehicle transport device that can prevent interference between vehicle wheels and the ground. [Solution] The vehicle transport device includes a trolley section inserted under the vehicle and wheels provided on the trolley section that are brought into contact with each other so as to sandwich the wheels of the vehicle in the longitudinal direction of the vehicle. An arm group that supports a wheel and includes two arms forming a pair, and an arm that is connected to the arm group and operates to switch between a support state in which the arm contacts the wheel and a release state in which the arm does not contact the wheel. It includes an actuator and a lifting device that moves the truck unit up and down. The two arms forming a pair have contact portions that contact the wheel in a supported state and have a shape that follows the outer shape of the wheel. [Selection diagram] Figure 1

Description

The present disclosure relates to a vehicle transport device and a vehicle transport method.

Patent Document 1 discloses a vehicle transport device for transporting vehicles. This vehicle transport device has a pair of arms that come into contact with each wheel of a vehicle to be transported, and each arm is hydraulically driven to sandwich and lift the wheels in the longitudinal direction of the vehicle.

US Patent Application Publication No. 2018/0142488

However, in a vehicle transport device that has a configuration in which each wheel of a vehicle to be transported is sandwiched between two pairs of arms and lifted, such as the vehicle transport device of Patent Document 1, it is difficult to lift the vehicle to be transported by an appropriate distance. The reality is that no progress has been made in considering the structure of the system. For this reason, when the vehicle is being transported, there is a risk that the wheels may interfere with the ground depending on the unevenness of the road surface or the slope. A vehicle transport device that can prevent interference between wheels and the ground is desired.

The present disclosure can be realized as the following forms.

(1) According to one embodiment of the present disclosure, a vehicle transport device is provided. This vehicle transport device is a vehicle transport device that transports the vehicle in a lifted state, and includes a truck portion inserted under the vehicle when the vehicle is transported, and a truck portion provided on the truck portion. , an arm group that supports each wheel of the vehicle by sandwiching them in the front-rear direction of the vehicle and includes two paired arms; and an arm group connected to the arm group; an arm actuator that operates to switch between a supported state in which the arm contacts the wheel and a released state in which the arm does not contact the wheel; and a lifting device that moves the truck part up and down, The arm of the book has a contact portion that contacts the wheel in the supported state and has a shape that follows the outer shape of the wheel.
According to the vehicle transport device of the above embodiment, the wheels are supported by the arms and the truck portion is raised by the lifting device, so that the vehicle can be lifted beyond the size of the arms. Therefore, a sufficient distance between the ground and the wheels can be ensured, and interference between the wheels and the ground can be suppressed during vehicle transportation. Further, since the portions of the pair of arms that come into contact with the wheel in the supported state have a shape that follows the outer shape of the wheel, it is possible to increase the contact area between the arms and the wheel. Therefore, the amount of deformation of the wheel downward from the arm can be suppressed, and even if the amount of elevation by the lifting device is small, interference between the ground and the wheel can be effectively suppressed.
(2) In the vehicle transport device of the above embodiment, the contact portion of the arm may be configured of a plurality of consecutive planes having different inclination angles with respect to the installation surface of the vehicle. According to the vehicle transport device of the above embodiment, the arm can have a shape that suitably corresponds to the wheel due to the abutment portion including a plurality of consecutive planes having different inclination angles.
(3) In the vehicle transport device of the above embodiment, the elevating device may be an air suspension device that adjusts the height of the truck portion by changing the volume of an air spring. According to the vehicle transport device of the above embodiment, the height of the truck portion can be easily adjusted by driving the air suspension device having the air spring.
(4) In the vehicle transport device of the above embodiment, a plurality of the air springs may be provided at the lower part of the truck portion. According to the vehicle transport device of the above embodiment, by providing a plurality of air springs, the output of the elevating device and the upward stroke of the truck can be expanded.
(5) In the vehicle transport device of the above embodiment, the arm actuator may be an electric actuator that has a rotational drive source and transmits the driving force from the rotational drive source to the arm via a screw shaft. According to the vehicle transport device of the above embodiment, since the arm actuator is constituted by an electric actuator, environmental risks due to oil leakage do not occur unlike in the case of a hydraulic cylinder.
(6) According to the second aspect of the present disclosure, a vehicle transport method is provided. This vehicle transport method is a vehicle transport method in which the vehicle is transported in a lifted state by a vehicle transport device, and the vehicle transport device includes a truck portion and a pair of vehicles provided on the truck portion. an arm actuator that is connected to the arm group and operates to switch between a support state in which the arm contacts a wheel of the vehicle and a release state in which the arm does not contact the wheel; , a lifting device for raising the truck portion, and the two arms forming the pair have a contact portion that contacts the wheel in the supported state and has a shape that follows the outer shape of the wheel. and an insertion step of inserting the trolley section under the vehicle when transporting the vehicle, and after the insertion step, driving the arm actuator and supporting the wheels by sandwiching them between the arms in the front-rear direction of the vehicle. a stopping step of stopping the driving of the arm actuator after the supporting step; and a lifting step of raising the truck part by the lifting device while the driving of the arm actuator is stopped in the stopping step. and a moving step of moving the vehicle transport device to transport the vehicle after the raising step.
According to the vehicle transport method of the above embodiment, the wheels are supported by the arm in the support step, and the truck portion is raised by the lifting device in the lifting step, so that the vehicle can be lifted by an amount greater than the size of the arm. Therefore, a sufficient distance between the ground and the wheels can be ensured, and interference between the wheels and the ground can be suppressed during vehicle transportation. Further, since the portions of the pair of arms that come into contact with the wheel in the supported state have a shape that follows the outer shape of the wheel, it is possible to increase the contact area between the arms and the wheel. Therefore, the amount of deformation of the wheel downward from the arm can be suppressed, and even if the amount of elevation by the lifting device is small, interference between the ground and the wheel can be effectively suppressed. Furthermore, since the raising process is performed after the drive of the arm actuator is stopped in the stopping process, the pressurizing force applied to the wheel by the arm can be reduced, so that the amount of deformation of the wheel can be further suitably suppressed.

FIG. 1 is a perspective view showing the configuration of a vehicle transport device according to a first embodiment of the present disclosure. FIG. 3 is a conceptual diagram showing an example of an operation in which the vehicle transport device lifts a vehicle. FIG. 3 is a diagram for explaining a support state in which a wheel is supported by an arm, and is an enlarged side view showing a contact portion between the arm and the wheel. FIG. 3 is a conceptual diagram for explaining the operation of an arm actuator. FIG. 3 is a diagram showing a simplified internal configuration of an arm actuator. It is a flowchart which shows the operation procedure of vehicle conveyance. It is a top view of a vehicle conveyance device, and is a figure showing an example of operation which supports a vehicle. FIG. 7 is a side view showing the configuration of a lifting device included in a vehicle transport device according to a second embodiment of the present disclosure.

A. First embodiment:
A1. Overall configuration of vehicle transport device:
FIG. 1 is a perspective view showing the configuration of a vehicle transport device 10 according to a first embodiment of the present disclosure. The vehicle transport device 10 includes a main body 100, a truck 200, a first arm group 211, a second arm group 212, a first arm actuator 221, and a second arm actuator 222. The main body portion 100 is provided at one end in the longitudinal direction of the truck portion 200 on the side where the first arm group 211 is provided.

The vehicle transfer device 10 has a truck section 200 inserted under the vehicle in the front-rear direction of a four-wheeled vehicle, and a first arm group 211 and a second arm group 212 provided on the truck section 200 move around the front and rear wheels of the vehicle. It supports the vehicle by coming into contact with each wheel. Then, the vehicle is transported by raising the truck portion 200 and moving the vehicle in a lifted state.

Typically, the vehicle transport device 10 inserts the trolley section 200 from the front of the vehicle. That is, the first arm group 211 comes into contact with the front wheels of the vehicle, and the second arm group 212 comes into contact with the rear wheels of the vehicle, thereby supporting the vehicle. However, the vehicle may be supported by inserting the truck portion 200 from the rear of the vehicle.

Further, as shown in FIG. 1, the orientation of the vehicle conveyance device 10 will be described below with the direction in which the main body 100 is provided as a first direction, the rear with respect to the first direction as a second direction, and the direction in which the main body 100 is provided as a second direction with respect to the first direction. The left side is the third direction, and the right side with respect to the first direction is the fourth direction. Furthermore, hereinafter, the wheels of the vehicle located in the first direction when the bogie section 200 is inserted into the lower part of the vehicle are also referred to as "first wheels", and the wheels of the vehicle located in the second direction are also referred to as "second wheels". ” is also called.

FIG. 2 is a conceptual diagram showing an example of an operation in which the vehicle transport device 10 lifts the vehicle 1. FIG. 2 shows the configuration of the vehicle transport device 10 and the vehicle 1 viewed from the side. As shown in FIGS. 1 and 2, the main body section 100 includes a driving wheel 110 that provides a running function of the vehicle conveyance device 10, and an elevating device 120 that provides an elevating function of the trolley section 200. Each of the drive wheels 110 and the lifting device 120 is typically operated by an actuator.

In the first embodiment, the elevating device 120 is constituted by a so-called air suspension device, and these mechanisms realize the elevating and lowering of the truck portion 200. The air suspension device uses air springs 11 and 12 as suspension springs, and in addition to the air springs 11 and 12, an air compressor (not shown) for generating compressed air, and high pressure air or low pressure air (not shown) are used. It has a surge tank etc. that stores it. The air compressor and surge tank are housed in the towing section. The air suspension device adjusts the height of the truck section 200 by changing the volumes of the air springs 11 and 12. As shown in FIG. 2, in the first embodiment, the air suspension device includes a front air spring 11 provided on the main body portion 100 and a rear air spring 12 provided at a rear position of the truck portion 200. Both the front air spring 11 and the rear air spring 12 are provided below the truck section 200 so that the truck section 200 can be raised and lowered.

The rear air spring 12 is mounted on a holding member 14 connected to the lower part of the truck section 200. The holding member 14 is a plate-shaped or box-shaped member. The front end of the holding member 14 is connected to a rotating shaft 15 provided at a position slightly rearward of the approximate center of the vehicle 1 in the longitudinal direction of the truck portion 200 . The connecting portion with the rotating shaft 15 becomes the center of rotation when the holding member 14 rotates from a horizontal state to an oblique state descending rearward when the rear air spring 12 is expanded. Further, this connection portion functions as a fulcrum when the rear air spring 12 expands and functions as a point of action. Note that at this time, the truck wheel 230 functions as a point of force to which the force generated by the expansion of the rear air spring 12 is applied. The rear end of the holding member 14 is connected to the truck wheel 230.

The main body 100 also includes a power source and a control device, which are not shown in FIG. The power source supplies power to various actuators included in the vehicle transport device 10. Typically, a battery serving as a power source is electrically connected to each actuator via a wire harness to supply power. In the following description, it is assumed that the power source is a battery and that each actuator is supplied with electric power via a wire harness.

The control device outputs control signals for driving and controlling various actuators provided in the vehicle transport device 10. The actuator operates according to the control signal. The control device is configured to be able to transmit information to each of the actuators. Typically, the control device is electrically connected to each actuator by a wire harness. However, it may be configured using other methods. For example, it may be configured to be able to transmit information by wireless communication or optical communication.

Note that the control device may be a device provided outside the vehicle transport device 10. In this case, the control device is configured to be able to transmit information to each actuator by communication.

Referring again to FIG. The first arm group 211 , the second arm group 212 , the first arm actuator 221 , and the second arm actuator 222 are provided on the truck section 200 . In addition, in FIG. 1, the outer shape of the arm is shown in a simplified manner.

The first arm group 211 includes an arm AM11, an arm AM12, an arm AM13, and an arm AM14. Arm AM11 and arm AM13 form a pair and abut on each other so as to sandwich the first wheel (for example, the left front wheel). Arm AM12 and arm AM14 form a pair and abut on each other so as to sandwich the first wheel (for example, the front right wheel).

The second arm group 212 includes an arm AM21, an arm AM22, an arm AM23, and an arm AM24. Arm AM21 and arm AM23 form a pair and abut on each other so as to sandwich the second wheel (for example, the left rear wheel). Arm AM22 and arm AM24 form a pair and abut on each other so as to sandwich the second wheel (for example, the right rear wheel).

FIG. 3 is a diagram for explaining the supporting state in which the wheel is supported by the pair of arms AM11 and AM13, and is a side view showing an enlarged contact portion 20 between the arm AM and the wheel FW. As shown in FIG. 3, the contact portion 20 of the arms AM11, AM13 that contacts the wheel FW has a plurality of continuous planes 21, 22, 23 having different inclination angles with respect to the installation surface, so as to roughly follow the side shape of the wheel FW. It is configured as follows. In FIG. 3, the arm AM11 and the arm AM13 that are in contact with each other across the first wheel FW (for example, the left front wheel) are explained as an example, but all the other arms AM12, AM14, AM21, AM23, AM22, AM24 The shape of the contact portion 20 is also the same. As described above, the first arm group 211 and the second arm group 212 support the vehicle by coming into contact with the respective wheels.

The first arm actuator 221 is connected to the first arm group 211 to switch between a support state in which the first arm group contacts the first wheel and a released state in which the first arm group 211 does not contact the first wheel. It is an actuator that operates to The second arm actuator 222 is connected to the second arm group 212 and switches between a support state in which the second arm group 212 contacts the second wheel and a released state in which the second arm group 212 does not contact the second wheel. It is an actuator that operates as follows. Hereinafter, the first arm actuator 221 and the second arm actuator 222 will be collectively referred to as "arm actuator" unless they are distinguished from each other.

FIG. 4 is a conceptual diagram for explaining the operation of the arm actuator (first arm actuator 221 or second arm actuator 222). The upper part of FIG. 4 shows the arm AM and the arm actuator in the released state, and the lower part of FIG. 4 shows the arm AM and the arm actuator in the supported state. The arm actuator includes a rod RD connected to the arm AM at a position CP, and a cylinder CL that accommodates the rod RD.

The arm actuator moves the rod RD in the axial direction of the cylinder CL. When rod RD is pushed out, arm AM rotates around position PV1, and cylinder CL rotates around position PV2. When rod RD is retracted, arm AM and cylinder CL rotate in the opposite direction. As a result, arm AM operates from the released state to the supported state or from the supported state to the released state.

FIG. 5 is a diagram showing a simplified internal configuration of the arm actuator. The arm actuator is an electric actuator that includes a motor 31 as a rotational drive source, a ball screw, and the like. As shown in FIG. 5, the arm actuator transmits driving force from a motor 31 as a driving source to a spline shaft 35 via a plurality of reduction gears 32, 33, and 34. A threaded portion 36 is formed on the outer periphery of the tip of the spline shaft 35 . A guide bracket 37 connected to the rod RD is externally fitted onto this threaded portion 36. Therefore, the guide bracket 37 slides with respect to the spline shaft 35 in the axial direction of the spline shaft 35 (in the direction of arrow A shown in FIG. 5) due to the rotational drive of the motor 31. That is, the rod RD moves in and out of the cylinder CL by the rotational drive of the motor 31. The spline shaft 35 corresponds to a "screw shaft".

Note that the arm AM constituting the first arm group 211 is the arm AM that comes into contact with the first wheel on the side where the main body 100 is provided (arm AM11 and arm AM12 in FIG. 1, hereinafter referred to as "fixed arm"). ) is not connected to the first arm actuator 221 and is fixed in a state extending in a direction perpendicular to the longitudinal direction of the truck section 200 (the third direction or the fourth direction in FIG. 1). The fixing method will be described later.

A2. Regarding the vehicle transport method and the vehicle transport operation by the vehicle transport device 10:
Next, the vehicle transport method using the vehicle transport device 10 described above and the operation of the vehicle transport device 10 will be described with reference to FIGS. 6 and 7. FIG. 6 is a flowchart showing the operation procedure of vehicle transportation. As shown in FIG. 6, the vehicle transport method includes an insertion step (S101), a support step (S102), a stopping step (S103), a rising step (S104), and a moving step (S105), Each of these steps is performed in order. Each step will be explained below.
In the insertion step (S101), the trolley portion 200 is inserted under the vehicle 1. FIG. 7 is a top view of the vehicle transport device 10, and is a diagram showing an example of the operation of supporting the vehicle 1. As shown in FIG. 7, the vehicle transport device 10 inserts the trolley section 200 into the vehicle 1 from the front. As shown in the upper part of FIG. 7, the vehicle transfer device 10 inserts the trolley section 200 under the vehicle 1 from the front of the vehicle 1 with the first arm group 211 and the second arm group 212 in the released state. At this time, the fixed arms (arm AM11 and arm AM12) come into contact with the first wheel (front wheel FW of vehicle 1).

In the support step (S102), the arm actuator is driven to sandwich and support wheels FW and RW between arms AM. As shown in the lower part of FIG. 7, by putting the first arm group 211 and the second arm group 212 in the supporting state, the first arm group 211 and the second arm group 212 are connected to the first wheel and the second wheel (vehicle 1 The vehicle 1 is supported by contacting the front wheels FW and rear wheels RW of the vehicle 1, respectively.

In the stopping step (S103), driving of the arm actuator is stopped. Then, in the raising step (S104), the carriage section 200 is raised by the lifting device 120 while the drive of the arm actuator is stopped in the stopping step (S103). More specifically, the vehicle transport device 10 lifts the vehicle 1 by raising the truck section 200 using the air springs 11 and 12 while the vehicle 1 is supported by the first arm group 211 and the second arm group 212.

In the moving step (S105), the vehicle transport device 10 is moved to transport the vehicle 1. Here, as shown in FIG. 2, the cart wheels 230 of the cart section 200 are configured so that they can roll in contact with the ground even when the cart section 200 is raised. Note that a plurality of truck wheels 230 may be provided at positions different from those shown in FIG. 2 . The vehicle transport device 10 transports the vehicle 1 by moving the vehicle 1 in a lifted state.

(1) According to the vehicle transport device 10 of the first embodiment, since the pair of arms AM supports the wheels FW and RW and the lifting device 120 raises the truck portion 200, the diameter of the arm AM is larger than or equal to the diameter of the arm AM. vehicle 1 can be lifted up. Therefore, a sufficient distance between the ground and the wheels FW, RW of the vehicle 1 can be ensured, and interference between the wheels FW, RW and the ground during vehicle transport can be suppressed.

(2) Furthermore, the arm AM only supports the wheels FW and RW, and the vehicle 1 is lifted by raising the truck portion 200 by driving the lifting device 120. For example, in the case of a configuration in which the vehicle 1 is lifted by the rotation of the arm AM, the weight of the vehicle 1 is directly applied to the arm AM, so a hydraulic cylinder or the like capable of high output is required as the arm actuator. In this regard, in the vehicle transport device 10 of the first embodiment, the arm AM only supports the wheels FW and RW, and the vehicle 1 is lifted by raising the truck section 200 using the lifting device 120. An electric actuator can be used as the arm actuator without requiring a large output. By using an electric actuator, there is no risk to the environment due to oil leakage, which is the case with hydraulic cylinders.

(3) In addition, the drive load by the electric actuator does not require the force to lift the vehicle 1, and only requires the force to hold the wheels FW and RW by the arm AM, so that local wear on the threaded portion 36 of the spline shaft 35 is reduced. This can improve the life of the arm actuator.

(4) According to the vehicle transfer device 10 of the above embodiment, the contact portions 20 of the pair of arms AM that contact the wheels FW and RW in the supported state follow the outer shapes of the wheels FW and RW. Because of the shape, the contact area between arm AM and wheels FW and RW can be increased. Therefore, the amount of deformation of the wheels FW and RW below the arm AM can be suppressed, and even if the amount of elevation by the lifting device 120 is small, interference between the ground and the wheels FW and RW can be effectively suppressed. can.

(5) Furthermore, by suppressing the amount of deformation of the wheels FW and RW, damage to the wheels FW and RW and the wheels can be suppressed.

B. Second embodiment:
Next, a vehicle transport device 10 according to a second embodiment of the present disclosure will be described with reference to FIG. 8. In addition, the same code|symbol is attached|subjected about the structure substantially the same as the said 1st Embodiment, and description is abbreviate|omitted. The vehicle transport device 10 of the second embodiment differs from the first embodiment in that it includes a plurality of rear air springs (in this embodiment, two, the first air spring 16 and the second air spring 17). different. In addition, in FIG. 8, the first air spring 16 and the second air spring 17 are illustrated by cross hatching for easy understanding.

FIG. 8 is a side view showing the configuration of a lifting device 120 included in the vehicle transport device 10 in the second embodiment. As shown in FIG. 8, the first air spring 16 is provided on the holding member 14 at a position near the rotating shaft 15. The second air spring 17 is provided on the holding member 14 at a position farther from the rotating shaft 15 than the first air spring 16 is. The first air spring 16 and the second air spring 17 are arranged in series in the longitudinal direction of the vehicle 1.

According to the vehicle transport device 10 of the second embodiment, in addition to the first air spring 16, the second air spring 17 is provided at a position farther from the rotation axis 15 than the first air spring 16, so that the first Compared to a configuration with only one air spring 16, the output of the lifting device 120 and the upward stroke of the truck section 200 can be expanded.

C. Other embodiments:
(C1) In the vehicle transport device 10 of each of the embodiments described above, the contact portion 20 of the arm AM that contacts the wheels FW, RW is constituted by a plurality of consecutive planes 21, 22, 23 having different inclination angles with respect to the ground. However, it is not limited to this shape. The contact portion 20 may have any shape as long as it roughly follows the side shape of the wheels FW, RW, and may be formed in a curved shape or may be configured by a single plane.

(C2) In the vehicle conveyance device 10 of each of the embodiments described above, an air suspension device is used as the lifting device 120, but it is sufficient that the trolley portion 200 can be moved up and down, and it may be configured using other mechanisms, such as a hydraulic cylinder. good.

(C3) In the vehicle transport device 10 of the second embodiment, a plurality of rear air springs (first air spring 1616, second air spring 17) are provided in series in the longitudinal direction of the vehicle 1. A plurality of them may be provided in the width direction. Furthermore, the number of air springs 11 and 12 may be three or more. Further, a plurality of front air springs 11 may be provided.

The present disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from the spirit thereof. For example, the technical features in each embodiment that correspond to the technical features in each form described in the column of the summary of the invention may be used to solve some or all of the above-mentioned problems, or to achieve the above-mentioned effects. In order to achieve some or all of the above, it is possible to perform appropriate replacements or combinations. Further, unless the technical feature is described as essential in this specification, it can be deleted as appropriate.

DESCRIPTION OF SYMBOLS 1... Vehicle, 10... Vehicle conveyance device, 11, 12, 16, 17... Air spring, 14... Holding member, 15... Rotating shaft, 20... Contact part, 21... Plane, 31... Motor (rotary drive source), 32... Reduction gear, 35... Spline shaft (threaded shaft), 36... Threaded part, 37... Guide bracket, 100... Main body part, 110... Drive wheel, 120... Lifting device, 200... Dolly part, 211... First arm group , 212...Second arm group, 221...First arm actuator, 222...Second arm actuator, 230...Dolly wheel, AM11, AM12, AM13, AM14, AM21, AM22, AM23, AM24...Arm, CL...Cylinder, FW, RW...Wheel, RD...Rod

Claims (6)

A vehicle transport device that transports the vehicle in a lifted state,
a trolley section inserted under the vehicle when the vehicle is transported;
an arm group that is provided on the truck portion and that supports each wheel of the vehicle by sandwiching them in the front-rear direction of the vehicle, and includes two arms that form a pair;
an arm actuator that is connected to the arm group and operates to switch between a support state in which the arm contacts the wheel and a release state in which the arm does not contact the wheel;
a lifting device that moves the truck unit up and down;
Equipped with
In the vehicle conveyance device, the two arms forming the pair have a contact portion that contacts the wheel in the supported state and has a shape that follows the outer shape of the wheel. 2. The vehicle conveyance device according to claim 1, wherein the contact portion of the arm includes a plurality of consecutive planes having different inclination angles with respect to the installation surface of the vehicle. 3. The vehicle transport device according to claim 1, wherein the elevating device is an air suspension device that adjusts the height of the truck by changing the volume of an air spring. 4. The vehicle transport device according to claim 3, wherein a plurality of said air springs are provided at a lower part of said trolley part. The arm actuator is
The vehicle transport device according to any one of claims 1 to 4, which is an electric actuator that has a rotational drive source and transmits a driving force from the rotational drive source to the arm via a screw shaft. . A vehicle transport method in which the vehicle is transported in a lifted state by a vehicle transport device, the method comprising:
The vehicle transfer device includes a truck portion, an arm group provided on the truck portion and including two arms forming a pair, a supporting state in which the arms are connected to the arm group and come into contact with wheels of the vehicle, and the arm an arm actuator that operates to switch between a released state in which the wheels do not come into contact with the wheels, and a lifting device that raises the truck section, and the two arms forming the pair are configured to switch between the supporting state and the wheel. a contact portion that comes into contact with the wheel has a shape that follows the outer shape of the wheel;
an insertion step of inserting the trolley section under the vehicle when transporting the vehicle;
After the insertion step, a supporting step of driving the arm actuator and supporting the wheel by sandwiching it between the arms in the longitudinal direction of the vehicle;
a stopping step of stopping the drive of the arm actuator after the supporting step;
a raising step of raising the truck part by the lifting device in a state where the drive of the arm actuator is stopped in the stopping step;
After the raising step, a moving step of moving the vehicle transport device to transport the vehicle;
Vehicle transportation methods, including:

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