JP2002087757A - Cargo handling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cargo handling device capable of improving straight traveling properties of a traveling main body while reducing the frequency of traveling direction correction. SOLUTION: Distance sensors 51A, 51B detecting change of distance between axle centers of driving wheels 5A, 5B and road surface as diameter detection devices detecting wheel diameters, and measurement circuits 56A, 56B are provided on the driving wheel 5A, 5B in a front and rear direction (D and E direction), respectively. and a controller 42 correcting rotation speed (traveling speed) of each driving wheel 5A, 5B according to change of diameters of the front and rear driving wheels 5A, 5B defined by those diameter detection means is provided. When a difference of diameters of front and rear driving wheels 5A, 5B occurs, a straight traveling property in a left and right direction (A and B direction) of a traveling main body 1 can be maintained to reduce a frequency of traveling direction correction with the structure mentioned above.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane-type cargo handling apparatus used for loading and unloading and transporting containers, for example.

[0002]

2. Description of the Related Art Conventionally, as this kind of cargo handling device, for example, a configuration shown in FIG. 7 is provided.

[0003] That is, the traveling body 1 comprises a pair of front and rear sill beams 2 arranged in parallel, a column 3 erected from each end of both sill beams 2, and a column 3 facing the front and rear.
And a pair of left and right girder 4 provided between the upper ends of the girder. On the lower surface side of each end of both sill beams 2,
A bogie 6 having two wheels 5 of the same diameter is provided. Of the wheels 5, a front left wheel 5A indicated by an arrow C, and a traveling left wheel 5A indicated by an arrow B,
Only the wheels 5B on the rearward side indicated by the arrow D and in the rightmost direction of travel indicated by the arrow A are drive wheels.
The traveling main body 1 travels in the container yard F in the traveling right direction A and traveling left direction B by independently driving the traveling motors 7A and 7B provided on the bogie 6 independently in forward and reverse directions. It is configured to be possible. Each of the sill beams 2 is provided with a hydraulic unit 8, and further provided with an engine room 9 and an electric control room 10 in a state of being distributed to the sill beams 2.

A club 11 supported and guided by both girder 4 and movable in a forward direction C and a backward direction D is provided.
The club 11 is equipped with a cab 12. Club 11
The club 11 is moved in the forward direction C and the backward direction D by the forward / reverse drive of the traverse motor 13 provided in the first position. Below the club 11, via four suspension devices 15,
A spreader device 20 for connecting the containers 30 is arranged to be able to move up and down.

[0005] Each of the above-mentioned suspension devices 15 includes a wheel (sliding body) provided on the fixed beam 21 side of the spreader device 20 via a bracket, a suspension rope hung on the wheel, and a club 11 side. It is constituted by a suspension drive device (none of which is shown).

The spreader device 20 is composed of a pair of front and rear fixed beams 21 arranged side by side in a horizontal state,
21 is supported and guided in the right direction A and the left direction B
A pair of left and right telescopic beams 23 and both telescopic beams
It is constituted by a telescopic drive device (not shown) for expanding and contracting the 23 in the separating direction or the approaching direction. The two fixed beams 21 are integrated by a connecting member 22 disposed between the upper surfaces thereof, and the bracket is provided on the connecting member 22.

[0007] Both telescopic beams 23 are provided with a transported object support 24 located along the front-rear direction,
A telescopic guide portion 25 continuously provided inward from the front and rear ends of the guide member 24 and supported and guided by the fixed beam 21;
And a telescoping passive portion (not shown) connected inward from the middle of the wire. And the transported object support part
On the lower side of the front and rear ends of the 24, a connector (not shown) for the container 30 is provided.

Further, an embedded guide tape (a magnetized belt) having a series of magnets for guiding the traveling main body 1 along a predetermined traveling path of the traveling main body 1 (a path in the traveling right direction A and the traveling left direction B). An example of the body) 31 is laid on the container yard F (on the road surface). Also, the distance between the guide tape 31 and the traveling body 1 in the front-rear direction (the traveling body 1 and the traveling path, respectively) is located outside one bearing 6A of the two bogies 6 on which the guide tape 31 is laid. A sensor cart 33 is provided with a magnetic detector 32 (corresponding to the deviation of the belt) (an example of a sensor for detecting the distance between the belt and the traveling body in the front-rear direction) (FIG. 8).

[0009] As shown in FIG.
Inverters 41A and 41B are provided to control the voltage supplied to the traveling motors 7A and 7B to drive the traveling motors 7A and 7B in the forward and reverse directions, respectively. Is provided. The controller 42 has an operation lever 43 provided in the operator's cab 12 for the traveling speed, an operation lever 44 for giving a rotation difference between the drive wheels 5A and 5B, a deviation calculation circuit 45, and automatic or manual traveling. An automatic / manual changeover switch 46 for selecting whether or not is selected.

[0010] The deviation calculation circuit 45 is provided in the traveling body 1 shown in FIG.
And outputs it to the controller 42. The distance between the magnetic tape 32 and the guide tape 31 detected by the magnetic detector 32 in the right running direction A is ER. The distance between the magnetic tape 32 and the guide tape 31 detected by the magnetic detector 32 in the left running direction B is EL. Assuming that the distance is L, the displacement E at the center and the angle θ of the traveling main body 1 are obtained by the equation (1).

E = (ER + EL) / 2 θ = tan ⁻¹ (ER−EL) / L (1) When the “manual” is selected by the automatic / manual switch 46, The rotation speed command signal of each of the drive wheels 5A and 5B is output to the inverters 41A and 41B in accordance with the operation angle of the operation lever 44 that gives the rotation difference between the speed lever 43 and the drive wheels 5A and 5B, and the drive wheels 5A and 5B.
The traveling main body 1 is caused to travel while changing the direction of the traveling main body 1 by the rotation difference.

When "automatic" is selected by the automatic / manual switch 46, the controller 42 calculates the following equation according to the operating angle η of the speed lever 43 and the displacement E obtained by the deviation calculating circuit 45. (2) The rotational speed command signals of the driving wheels 5A and 5B are obtained by (3) and output to the inverters 41A and 41B, and the traveling body 1 is changed while changing the direction of the traveling body 1 based on the rotation difference between the driving wheels 5A and 5B. To run. In the equations (2) and (3), VR is the rotation speed of the driving wheel 5B, and VL is the rotation speed of the driving wheel 5A.

(VL + VR) ∝η (2) VL−VR = ΔV = G ₁ E−G ₂ θ (3) According to the conventional cargo handling vehicle having the above configuration, the traveling main body 1 travels rightward. The combined operation of traveling in the direction A or the traveling left direction B, moving the club 11 in the forward direction C or the backward direction D, and raising and lowering the spreader device 20 allows the container 30 to be spread on the spreader device 20 side. In favor of
After transporting the container 30, the container 30 can be loaded.

At this time, the position of the container 30 when it is unloaded or loaded, that is, the position of the spreader device 20 with respect to the container 30, and the position of the container 30 placed on the ground with respect to the container 30 connected to the spreader device 20.
As described above, the positioning of the container 30 with respect to the truck chassis and the traveling of the traveling body 1 in the traveling right direction A or the traveling left direction B and the club 11 in the forward direction C or the backward direction D are performed as described above. The basic operation is performed by moving. Then, the telescopic beam 23 of the spreader device 20 is expanded and contracted to correspond to the length of the container 30 to be handled.

Only at the time of lane change, the direction of the wheels 5 is changed by 90 ° (fixed value), and the traveling body 1 travels in the forward direction C or the backward direction D.

[0016]

In the above equation (3), G
₁ E is a component (Δ) that rotates the traveling body 1 clockwise.
V> 0), on the other hand, G ₂ θ becomes a component (ΔV <0) that rotates the traveling main body 1 counterclockwise, cancels each other, and becomes ΔV ≒ 0, and the vehicle is in a convergent traveling state. However, actually, the driving wheels 5A, 5A
Due to the radius difference of B, even if the wheels are rotated at the same rotational speeds VL and VR, a difference occurs in the traveling distance of each of the drive wheels 5A and 5B every predetermined time, that is, a difference occurs in the traveling speed of the drive wheels 5A and 5B, and The vehicle travels obliquely (the traveling straightness is deteriorated) without becoming ≒ 0, which causes a problem that the trajectory must be frequently corrected.

The difference in radius between the drive wheels 5A and 5B of the traveling body 1 is caused by wear of the wheels and bending due to different wheel loads. Therefore, an object of the present invention is to provide a cargo handling device capable of improving the straight traveling property of a traveling body and reducing the frequency of track correction.

[0018]

In order to achieve the above-mentioned object, the invention according to claim 1 of the present invention comprises a traveling body supported by front, rear, left and right wheels and capable of traveling in the left-right direction. A loading / unloading device provided with a club which is movable in the direction, and which is suspended from the club so as to be able to move up and down, and which has a spreader device for connecting a container, wherein the front and rear wheels have a diameter detecting means for detecting a diameter of the wheel. The rotation speed of each wheel corresponding to the traveling speed of the traveling main body can be corrected according to the diameters of the front and rear wheels detected by the diameter detecting means.

According to the above construction, the rotation speed of each wheel, that is, the traveling speed of each wheel is corrected in accordance with the diameter of the front and rear wheels, so that even if a difference occurs in the diameter of the front and rear wheels, the traveling body Traveling straightness is maintained.

According to a second aspect of the present invention, in the first aspect of the present invention, the diameter detecting means includes a distance sensor for measuring a change in the distance between the center of the wheel shaft and the road surface, or a non-diameter sensor. It is characterized by comprising a distance sensor for measuring the distance between the center of the wheel shaft and the road surface by contact.

According to the above configuration, the diameter of the wheel is measured by measuring the distance or the change in the distance between the center of the wheel axis and the road surface by the distance sensor. The invention according to claim 3 is the invention according to claim 2, wherein the distance sensor is constituted by a differential transformer or an ultrasonic sensor.

According to the above arrangement, the distance sensor mechanically moves the tracing stylus perpendicular to the road surface to determine a change in the distance between the center of the wheel axis and the road surface, or the non-contact wheel shaft. Is formed by an ultrasonic sensor for determining the distance between the center of the road and the road surface.

According to a fourth aspect of the present invention, a traveling body which is supported by front, rear, left and right wheels and is capable of traveling in the left and right direction is provided with a club which is movable in the front and rear direction, and is suspended from the club so as to be movable up and down. A cargo handling apparatus comprising a spreader device for connecting containers, provided with distance detecting means for calculating the forward and backward moving distance from a predetermined position of the spreader device, and the moving distance of the spreader device determined by the distance detecting means. By providing a diameter detecting means for calculating the diameter of the front and rear wheels, according to the diameter of the front and rear wheels determined by the diameter detecting means, it is possible to correct the rotation speed of each wheel corresponding to the traveling speed of the traveling body It is characterized by having a configuration.

According to the above construction, the diameters of the front and rear wheels are obtained from the moving distance of the spreader device obtained by the distance detecting means, and the rotation speed of each wheel, that is, each wheel is determined according to the obtained diameter of the front and rear wheels. Is corrected, the traveling straightness of the traveling main body is maintained even if a difference occurs in the diameter of the front and rear wheels.

According to a fifth aspect of the present invention, in the fourth aspect of the present invention, the distance detecting means includes an encoder connected to a rotating shaft of a drive motor for moving the club;
It is characterized by comprising a measuring circuit for detecting the moving distance of the spreader device by counting the pulses of the encoder.

According to the above configuration, the movement distance of the club, that is, the movement distance of the spreader device is obtained by counting the pulses of the encoder connected to the rotation shaft of the drive motor that moves the club.

[0027] The invention according to claim 6 provides the above-mentioned claim 1.
The invention according to claim 5, wherein a belt for guiding the traveling body is laid on a road surface along a traveling path in the left-right direction of the traveling body, and left and right wheels on the side on which the belt is laid. In each, a sensor is provided for detecting the distance between the band and the traveling body in the front-rear direction, and the distance between the band and the traveling body and the angle between the band and the traveling body are determined from the distance detected by the sensor. From these distances and angles, the rotational speeds of the front and rear wheels that cause the traveling main body to travel along the belt are obtained, and the rotational speeds of these front and rear wheels are calculated based on the diameters of the front and rear wheels detected by the diameter detection unit. And a control means for driving the front and rear wheels by making corrections accordingly.

According to the above configuration, the distance between the band and the traveling body and the angle between the traveling body and the band are determined from the distance between the traveling body and the band detected by the sensor. The rotational speeds of the front and rear wheels traveling in the left-right direction along the band are obtained, and the rotational speeds of these front and rear wheels are corrected according to the diameters of the front and rear wheels detected by the diameter detecting means. The front and rear wheels are driven by the rotation speeds of the front and rear wheels.

[0029]

Embodiments of the present invention will be described below with reference to the drawings. The same components as those in FIGS. 7 and 8 of the conventional example are denoted by the same reference numerals, and description thereof will be omitted. [First Embodiment] FIG. 1 is a side view and a front view of a drive wheel (bogie) of a cargo handling device according to a first embodiment of the present invention. FIG. 1 shows a part (drive wheel portion of a bogie) of the configuration of the cargo handling device shown in FIG.

Driving force is transmitted to the two drive wheels 5A and 5B from the traveling motors 7A and 7B via a chain 50, respectively. The drive force is transmitted to the outside of the bearing 6A (bogie bogie 6) of the drive wheels 5A and 5B. A distance sensor 51A for detecting the distance between the center of the axle of the drive wheels 5A and 5B and the container yard F (road surface) is provided at a substantially central position of the drive wheels 5A and 5B, respectively.
51B are provided.

These distance sensors 51A and 51B are respectively
A differential transformer 52 fixed to the bearing 6A in a vertical direction;
A probe 53 fixed to the upper end of the differential transformer 52 and supported vertically on the road surface so as to be pressed vertically in the container yard F direction by a spring body (not shown).
A bearing 54 fixed to the lower end of the vehicle, and a wheel 55 supported by the bearing 54 and rotating on the container yard F,
When the radius of the driving wheels 5A and 5B changes, the wheels 55 and the bearings 5
4, and the core provided at the tip of the tracing stylus 53 is moved vertically (up and down) via the tracing stylus 53, and a signal corresponding to the amount of movement is output from the differential transformer 52.
A change in the radius of the drive wheels 5A, 5B is detected.

As shown in FIG. 2, the output signals of these distance sensors 51A and 51B (differential transformer 52) are respectively measured by a measuring circuit (to excite the primary coil of the differential transformer 52) provided in the cab 12. 56A, 56B
The moving distance from a zero point (where the radius of the driving wheels 5A and 5B is a rated diameter is set to zero) is obtained by the measuring circuits 56A and 56B, and these moving amounts and the preset driving wheel 5A , 5B radius change rate (radius ratio)
R _EA and R _EB (%) are calculated and input to the controller (an example of control means) 42. Rate of change R _EA , R _EB (%)
Is negative (-) when the radius is small.
The distance sensors 51A and 51B and the measuring circuits 56A and 56B constitute a distance sensor that measures a change in the distance between the center of the axis of the wheel and the road surface as an example of the diameter detecting means. The diameters of the driving wheels 5A, 5B are directly obtained from the moving distances obtained by the measuring circuits 56A, 56B, and the radius change rates R _EA , R _EB (%) are calculated from the diameters of the actual driving wheels 5A, 5B. You may ask for it.

The controller 42 receives an input from the deviation calculation circuit 45.
The displacement E of the center of the traveling body 1 and the traveling body 1
Of angle θ and change in radius input from measurement circuits 56A and 56B
Rate R _EA, R_EB(%), The speed lever 43 and the driving wheel 5A,
The operation angle of the operation lever 44 that gives a rotation difference of 5B,
In response to the selection signal of `` Auto '' or `` Manual '' of the manual switch 46,
Then, the rotation speed command signals of the drive wheels 5A and 5B are
Output to the inverters 41A and 41B to rotate the drive wheels 5A and 5B.
Running the traveling body 1 while changing the direction of the traveling body 1 due to the difference
Let go.

"Automatic" by the automatic / manual switch 46
The operation of the controller 42 when is selected will be described. Note that the operation of the controller 42 when “manual” is selected is the same as that of the related art, and thus the description is omitted.

The controller 42 calculates the drive wheels 5A and 5B according to the following equations (4) and (5) according to the operation angle η of the speed lever 43, the displacement E obtained by the deviation calculation circuit 45, and the angle θ of the traveling body 1. Are the basic rotational speed command values VL and VR (VL is the rotational speed of the drive wheel 5A, VR is the drive wheel 5B
The rotation speed command values VL and VR are corrected by the following equations (6) and (7) in accordance with the radius change rates R _EA and R _EB obtained by the measurement circuits 56A and 56B. The correction values VLX and VRX (where VLX is the rotation speed of the driving wheel 5A after correction, and VRX is the rotation speed of the driving wheel 5B after correction)
Output to 41A and 41B, the traveling main body 1 is caused to travel while changing the direction of the traveling main body 1 by the rotation difference of the drive wheels 5A and 5B.

(VL + VR) ∝η (4) VL−VR = ΔV = G ₁ E−G ₂ θ (5) VRX = VR × (1-R _EB × 0.01) (6) VLX = VL × (1−R _EA × 0.01) (7) As can be seen from equations (6) and (7), the corrected drive wheel 5A
The rotation speed VLX (command value) and the corrected rotation speed VRX (command value) of the driving wheel 5B are the reference values when the radii of the driving wheels 5A and 5B decrease and the radius change rates R _EA and R _EB become negative. The rotation speed is corrected so as to be larger than the rotation speed VL of the drive wheel 5A and the rotation speed VR of the drive wheel 5B so that the same moving distance, that is, the same traveling speed is obtained at the same rotation speed.

With the above configuration, the cargo handling device moves the traveling main body 1 along the guide tape 31 that guides the traveling main body 1 while changing the direction of the traveling main body 1 due to the rotation difference between the drive wheels 5A and 5B. By the combination of traveling in the traveling left direction B, moving the club 11 in the forward direction C or the rear direction D, and moving the spreader device 20 up and down, the container 30
And transporting the container 30 for stacking.

As described above, the reference rotational speed VL of the drive wheel 5A and the rotational speed VR of the drive wheel 5B are corrected in accordance with the change rates R _EA and R _EB of the radii of the drive wheels 5A and 5B. By correcting the rotation speed so that the driving wheels 5A and 5B have the same moving distance when the rotation speed is the same, that is, the same traveling speed, the difference in radius between the driving wheels 5A and 5B of the traveling main body 1 is reduced. Even if it is generated due to wear, bending due to different wheel loads, or the like, even if driven at the same rotational speed due to the difference in radius between the drive wheels 5A and 5B of the traveling main body 1, the traveling main body 1 runs obliquely, that is, traveling straightness deteriorates. Can be solved (the traveling straightness of the traveling main body 1 can be improved), and the trajectory correction frequency can be reduced.

In the first embodiment, the distance sensor
51A and 51B are constructed by using a differential transformer 52 for mechanically moving a tracing stylus 53 up and down perpendicular to the road surface to obtain a change in the distance between the center of the drive wheels 5A and 5B and the road surface of the container yard F. However, as shown in FIG.
It may be formed by a distance sensor for obtaining a distance between the center of the axis of A, 5B (wheel) and the road surface, for example, ultrasonic sensors 61A, 61B. At this time, the ultrasonic sensors 61A and 61B may be attached to the side of the bearing 6A (bogie 6). As described above, the distance sensor forming the diameter detecting means for detecting the diameter of the wheel is a sensor for mechanically moving the tracing stylus to determine a change in the distance between the center of the wheel axis and the road surface, or a non-contact sensor for the wheel. It can be formed by a sensor that determines the distance between the center of the shaft and the road surface. [Second Embodiment] FIG. 4 is a control configuration diagram of a traveling control system of a cargo handling device according to a second embodiment of the present invention. An encoder 71 connected to the rotating shaft of a traversing motor (drive motor) 13 for newly driving the club 11 is provided in the configuration of the traveling control system of the conventional cargo handling device.
A measurement circuit 72 is provided for calculating the movement distance J of the spreader device 20 by counting pulses output by the rotation of the traverse motor 13 from the 71 and outputting the movement distance J to the controller 42. The encoder 71 and the measuring circuit 72 constitute an example of a distance detecting unit.

The moving distance J of the spreader device 20 is shown in FIG.
As shown in (1), the distance that the club 11 has moved from the center of the girder 4 (an example of a predetermined position) by the driving of the traverse motor 11. The moving distance of the club 11 is the same as the moving distance of the spreader device 20, and the moving distance of the spreader device 20 can be obtained by obtaining the moving distance of the club 11. Note that the moving distance J is plus (+) in the forward direction (arrow C direction) from the center of the girder 4 and minus (-) in the backward direction (arrow D direction) from the center.

The controller 42 also includes the spreader device 20
The data (hereinafter, referred to as container presence / absence data) indicating whether or not the container 30 is connected to the spreader device 20 is input from a driving device (not shown).

The controller 42 determines the rate of change R _EA , R _EB of the radius of the driving wheels 5A, 5B in the first embodiment based on the container presence / absence data and the moving distance J input from the measuring circuit 71 during automatic traveling. Then, the rotation speeds of the drive wheels 5A and 5B are obtained. That is, as shown in FIG.
Are connected, a load is applied to each of the drive wheels 5A and 5B to reduce the radius, and when the moving distance J is positive, a large load MC of the container 30 is applied to the drive wheel 5A (the drive wheel 5A). When the load MA of 5A> the load MB of the drive wheel 5B), the rate of change R _EA of the radius of the drive wheel 5A becomes larger (the radius of the drive wheel 5A becomes smaller), and conversely, when the moving distance J is negative, the container Because a large load of 30 is applied to the drive wheel 5B (the load M
B> the load MA of the drive wheel 5A), and the change rate R _EB of the radius of the drive wheel 5B is larger (the radius of the drive wheel 5B is smaller). Rate of change R _EA , R of radius of drive wheels 5A, 5B
_EB (%) is calculated by the following equations (8), (9), (10), and (11). In the equations (8), (9), (10), and (11), K is the absolute distance in the front-rear direction from the center of the girder 4 to each of the drive wheels 5A and 5B, and β is a proportional constant.

MA + MB = MC (8) MA (K−J) = MB (K + J) (9) R _EA = βMA (10) R _EB = βMB (11) The radii of the drive wheels 5A and 5B are determined from the load MA of the drive wheel 5A and the load MB of the drive wheel 5B obtained by the equations (8) and (9), and the change rates R _EA and R _EB of the radii of the drive wheels 5A and 5B.
You can ask for it.

As in the first embodiment, the controller 42 includes an operation angle η of the speed lever 43 and a deviation calculation circuit 45.
In accordance with the displacement E and the angle θ of the traveling body 1, the basic rotational speed command values VL and VR of the drive wheels 5A and 5B are obtained by the above equations (4) and (5) (where VL is the drive wheel 5A). , VR is the number of rotations of the drive wheel 5B), and further, according to the radius change rates R _EA , R _EB obtained by the above equations (8), (9), (10), and (11), the above equation is obtained. (6) (7)
The rotational speed command values VL and VR are corrected by
X and VRX (VLX is the rotational speed of the drive wheel 5A after the correction, and VRX is the rotational speed of the drive wheel 5B after the correction) are converted to the inverters 41A and 41B.
To the traveling body 1 due to the rotation difference between the drive wheels 5A and 5B.
The traveling body 1 travels while changing the direction of the vehicle.

As described above, in the same manner as in the first embodiment, the rotational speed VL of the reference drive wheel 5A and the rotational speed of the drive wheel 5B are determined according to the radius change rates R _EA and R _EB of the drive wheels 5A and 5B. By correcting the VR and correcting the rotational speed so that the front and rear drive wheels 5A and 5B have the same travel distance when the rotational speed is the same, that is, the same traveling speed, the driving wheels 5A and 5A of the traveling main body 1 are corrected.
Even if the difference in radius of 5B occurs due to wear of wheels, bending due to different wheel loads, etc., the drive wheels 5A, 5
Even when driven at the same rotation speed due to the radius difference of B, the problem that the traveling main body 1 runs obliquely, that is, the traveling straightness deteriorates (the traveling straightness of the traveling main body 1 can be improved) and the track Correction frequency can be reduced.

In the second embodiment, the moving distance J of the spreader device 20 is obtained by connecting the encoder 71 to the traverse motor 13 and counting the pulses. (Not shown) may be input as the moving distance of the club 11 obtained.

In the second embodiment, the load MC of the container 30 is fixed. However, data of the size of the connected container 30 is input from the driving device of the spreader device.
According to the data of this size, the load MC of the container 30
To change the load MA of the drive wheel 5A and the load MB of the drive wheel 5B in accordance with the size of the container 30.
The change rates R _EA and R _EB of the radii of A and 5B may be obtained. As a result, a more accurate radius change rate R _EA , R
_EB is required, and the traveling straightness of the traveling main body 1 can be further improved.

In the first and second embodiments, it is assumed that a magnetic detector is used as a sensor for detecting the band for guiding the traveling body 1, and the guide tape 31 having a series of magnets is used as an example of the band. However, any cable may be used as long as it generates a magnetic flux. For example, a cable for passing an alternating current may be laid. In addition, a tape that reflects light can be used as the band. At this time, a sensor in which a plurality of photoelectric switches are arranged in the front-rear direction is used as the sensor.

[0049]

As described above, according to the present invention, the rotation speed of each wheel is corrected in accordance with the diameter of the front and rear wheels, so that the wheels have the same rotation speed due to the difference in the diameter of the front and rear wheels. When rotated, the traveling body can be prevented from skewing, and traveling straightness can be improved.

[Brief description of the drawings]

FIG. 1 is a side view and a front view of bogie bogie drive wheels of a cargo handling device according to Embodiment 1 of the present invention.

FIG. 2 is a control configuration diagram of a traveling control system of the cargo handling device.

FIG. 3 is a side view of a bogie bogie drive wheel of the cargo handling device that replaces the bogie bogie drive wheel of the cargo handling device of FIG. 1;

FIG. 4 is a control configuration diagram of a traveling control system of a cargo handling device according to a second embodiment of the present invention.

FIG. 5 is an explanatory diagram of traveling control of the cargo handling device.

FIG. 6 is a flowchart of a controller of a traveling control system of the cargo handling apparatus.

FIG. 7 is a perspective view of a conventional cargo handling device.

FIG. 8 is a configuration diagram of a traveling control system of a conventional cargo handling device.

FIG. 9 is an explanatory diagram of traveling control of a conventional cargo handling device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 5 Wheel 5A, 5B Drive wheel 6 Bogie bogie 6A Bearing 7A, 7B Traveling motor 12 Operator's cab 31 Guide tape (band) 32 Magnetic detector 41A, 41B Inverter 42 Controller 43 Speed lever 51A, 51B Distance sensor 52 Difference Dynamic transformer 53 Contact point 54 Bearing 55 Wheel 56A, 56B, 72 Measurement circuit 61A, 61B Ultrasonic sensor 71 Encoder A Right running direction B Left running direction C Forward direction D Backward direction F Container yard

Claims (6)

[Claims] 1. A spreader device which is supported by front, rear, left and right wheels and which is capable of traveling in the left-right direction, is provided with a club which is movable in the front-rear direction, and which is suspended from the club so as to be able to move up and down to connect containers. In the cargo handling device provided, the front and rear wheels, provided with a diameter detection means for detecting the diameter of the wheel, according to the diameter of the front and rear wheels detected by the diameter detection means, the traveling speed of the traveling body A cargo handling device characterized in that the number of rotations of each corresponding wheel can be corrected. 2. The diameter detecting means is constituted by a distance sensor for measuring a change in the distance between the center of the wheel shaft and the road surface or a distance sensor for measuring the distance between the center of the wheel shaft and the road surface in a non-contact manner. The cargo handling device according to claim 1, wherein: 3. The cargo handling device according to claim 2, wherein the distance sensor is constituted by a differential transformer or an ultrasonic sensor. 4. A spreader device which is supported by front, rear, left and right wheels and which is capable of traveling in the left-right direction, is provided with a club movable in the front-rear direction, and is suspended from the club so as to be able to move up and down to connect the container. A cargo handling device comprising: a distance detecting unit that calculates a moving distance in a front-rear direction from a predetermined position of the spreader device; and a diameter of the front and rear wheels according to a moving distance of the spreader device obtained by the distance detecting unit. Is provided according to the diameter of the front and rear wheels determined by the diameter detection means,
A cargo handling device, wherein the number of rotations of each wheel corresponding to the traveling speed of the traveling body can be corrected. 5. A distance detecting means comprising an encoder connected to a rotating shaft of a driving motor for moving a club, and a measuring circuit for detecting a moving distance of the spreader device by counting pulses of the encoder. The cargo handling device according to claim 4, characterized in that: 6. A belt for guiding the traveling body is laid on a road surface along a traveling route in the left-right direction of the traveling body, and the left and right wheels on the side on which the belt is laid are respectively provided with the belt and A sensor for detecting a distance in the front-rear direction with the traveling body is provided, and a distance between the band and the traveling body and an angle between the band and the traveling body are determined from the distance detected by the sensor.
Based on these distances and angles, the rotational speeds of the front and rear wheels that cause the traveling main body to travel along the belt are determined, and the rotational speeds of these front and rear wheels are corrected according to the diameters of the front and rear wheels determined by the diameter detecting means. The cargo handling apparatus according to any one of claims 1 to 5, further comprising control means for driving the front and rear wheels.