JP2003270355A - Cargo detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a cargo detector capable of detecting a cargo placing condition in a cargo receiving part regardless of the position of the cargo receiving part or a material of a core and capable of simplifying wiring processing. <P>SOLUTION: This cargo detector is provided with a detected part, which interlocks with the cargo placing condition in the cargo receiving part for mounting the cargo to move up/down for detecting whether the cargo is placed in a proper position or not when a roll type cargo is conveyed, and a first detection means and a second detection means detecting a cargo placing condition in the cargo receiving part on the basis of the position of the detected part. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cargo handling device for carrying goods.

[0002]

2. Description of the Related Art A roll-shaped load (hereinafter referred to as "roll load 101") in which paper or film is wound around a core 106.
The automated guided vehicle 104 shown in FIG. 6 is often used to transport the (.) From the winder 100 to the storage shelf 103. The automatic guided vehicle 104 is provided with load receiving portions 105a and 105b each having a U-shaped cutout formed in an upper portion thereof for supporting the core 106 of the roll load 101. The automatic guided vehicle 104 is configured so that the roll load 10 is loaded on the load receiving portions 105a and 105b.
It is possible to run on a rail or a road surface with the 1 mounted.

The load receiving portions 105a and 105b are driven by a drive unit (not shown) in the front-rear direction or in the left-right direction with respect to the automated guided vehicle 104 (in the automated guided vehicle 104 shown in FIG. 6,
Can be moved in the front-back direction). Further, the cargo receiving unit 10
5a and 105b are provided with detection means 107 as shown in FIG. 7 for detecting whether or not the core 106 is placed on the load receiving portions 105a and 105b.

The reason why the detecting means 107 is provided is as follows.
For example, when the automated guided vehicle 104 acquires the roll load 101 from the winder 100, the roll load 101 is transferred to the load receiving unit 105.
This is because they may not be supported by the vehicle and may fall on the upper surface of the vehicle body 112 of the automated guided vehicle 104 or the ground. When the roll work 101 is dropped on the upper surface of the vehicle main body 112 or the ground and the carrying operation is continued,
As a result, the automated guided vehicle 104 or a device around the automated guided vehicle 104 may be damaged or the operator may be injured. Therefore, the detection means 107 causes the cargo receiving sections 105a, 105
When it is determined that the roll load 101 is not placed on b, the automatic guided vehicle 104 stops the transport work.

As shown in FIG. 7A, the detecting means 107 is provided with a light projector 110a and a light receiver 110b at positions where the load receiving portions 105a and 105b face each other.
When the core 106 is placed on the load receiving portions 105a and 105b, the fact is detected.
Alternatively, as shown in FIG. 7B, a reflection type photo sensor 111 is provided on the upper surface of the vehicle body 112 and below the load receiving portions 105a and 105b, and the core 106 of the roll load 101 is provided.
There is a device that is configured to detect that when it is placed on the load receiving portions 105a and 105b.

When there is an instruction to convey the roll load 101 to a predetermined storage shelf 103 in the automatic guided vehicle 104 equipped with the detecting means 107 as shown in FIG. 7A, the detecting means 107 is detected.
Detects the placement status of the roll load 101 being conveyed as follows.

When there is a transportation instruction, first, the automatic guided vehicle 104
Moves to the vicinity of the winder 100 (loading position), and the winder 1
The load receiving portions 105a and 105b are moved to below the core 106 of the roll load 101 supported by 00. Next, the cargo receiving portions 105a and 105b are moved up and down in synchronization with each other,
The core 1 of the roll load 101 in the load receiving portions 105a and 105b
Lift 06. The receiving parts 105a and 105b are the core 1
When 06 is lifted, the projector 110a shown in FIG.
Since the light emitted from is blocked by the core 106, the automated guided vehicle 104 can detect that the roll load 101 is placed on the load receiving portions 105a and 105b.

The roll load 10 is placed on the load receiving portions 105a and 105b.
When it is detected that 1 is placed, the automatic guided vehicle 104
Moves the cargo receiving portions 105a and 105b to appropriate positions (hereinafter, referred to as "home positions"). This home position is a position where the posture of the automatic guided vehicle 104 is most stable (for example, the central position of the automatic guided vehicle 104) when the automated guided vehicle travels with the rolled load 101 placed on the load receiving portions 105a and 105b. Is.

When the load receiving portions 105a and 105b are moved to their home positions, the automatic guided vehicle 104 moves to a position near the predetermined luggage rack 103 (loading position). When moved to the loading position, the automated guided vehicle 104 raises the load receiving portions 105a and 105b to a position where the core 106 of the roll load 101 is above the core receiver 109 on which the roll load 101 is placed. Then, the automatic guided vehicle 104 includes the cargo receiving section 105a,
105b is moved so that the core 1 is located above the core receiver 109.
Move 06. When the cargo receiving sections 105a and 105b are moved, the automated guided vehicle 104 is moved to the cargo receiving sections 105a and 105b.
Then, b is lowered and the core 106 is placed on the core receiver 109.

When the roll load 101 is placed on the core receiver 109, the light emitted from the light projector 110a is received by the light receiver 11a.
Since it is incident on 0b, the automated guided vehicle 104 can detect that the roll load 101 is placed on the storage shelf 103.

When the automated guided vehicle 104 detects that the roll load 101 is placed on the core receiver 109, the load receiving unit 10
5a and 105b are returned to their home positions, and the carrying operation is completed.

In the automatic guided vehicle 104, the roll load 101 is placed on the load receiving portions 105a and 105b in spite of raising and lowering the load receiving portions 105a and 105b by a predetermined distance or more at the above-mentioned load collecting position. If it cannot be detected, the automated guided vehicle 104 interrupts the transportation work. This is the process of acquiring the roll load 101, and is the core 106 of the roll load 101.
However, the roll load 101 may not be placed on the load receiving portions 105a and 105b and may be dropped on the upper surface of the vehicle body 112 of the automatic guided vehicle 104 or the ground.

Similarly, in the above-mentioned loading position, the load receiving portion 10
When it is not possible to detect that the roll load 101 is placed on the core receiver 109, even though the 5a and 105b are lowered by a predetermined distance, the automatic guided vehicle 104 interrupts the carrying work. In this case, the roll load 101 is the load receiving portion 105a, 1
This is because it is not possible to carry out the next transfer operation because it is still placed on 05b.

When the operation of the automatic guided vehicle 104 is interrupted for the above reason, a warning sound is emitted or a warning lamp is lit to normally acquire the roll load 101 or place it on the storage shelf 103. It is designed to inform the operator that there was nothing.

The detecting means 10 as shown in FIG.
In the unmanned guided vehicle 104 provided with No. 7, in the process of acquiring the roll load 101, when the load receiving portions 105a and 105b lift the core 106, light emitted from the photo sensor 111 is reflected by the core 106, and the photo sensor Reflected light is incident on 111. As a result, the automated guided vehicle 104
The core 10 of the roll load 101 is placed on the load receiving portions 105a and 105b.
It can be detected that 6 is placed. Further, in the step of placing the roll load 101 on the storage shelf 103, when the roll load 101 is placed on the core receiver 109, the light emitted from the photo sensor 111 is not reflected and the reflected light is reflected on the photo sensor 111. It will not be incident. Therefore, the automated guided vehicle 104 can detect that the roll load 101 is placed on the storage shelf 103.

[0016]

However, as shown in FIG.
In the detecting means 107 as shown in (a), when the diameter of the core 106 is large, the core 106 may not reach the lower ends of the U-shaped load receiving portions 105a and 105b.
The light emitted from 10a passes below the core 106 and is received by the light receiver 110b. For this reason, the automated guided vehicle 104 is configured to load the roll cargo 10 on the cargo receiving portions 105a and 105b.
It is not possible to detect that 1 is placed. Further, since the detecting means 107 is provided in the load receiving portions 105a and 105b movable with respect to the vehicle body 112, the wiring of the detecting means 107 becomes complicated.

In the structure shown in FIG. 7B, the photo sensor 111 may malfunction when a roll load 101 having a glossy core 106 whose surface is mirror-finished is conveyed. is there.

In order to solve the above-mentioned drawbacks, as shown in FIG. 8, a vehicle body 112 is provided with a projector 113a and a receiver 113.
A detection means 107 with b is also conceivable. In this case, the light projector 113a and the light receiver 113b are, for example, the cargo receiving unit 105.
It is provided so as to be located on the diagonal of the home position of a and 105b.

However, in this structure, the load receiving portion 105a,
When 105b is located at a position other than the home position, that is, when the load receiving portions 105a and 105b are located outside the detection range of the placement status of the projector 113a and the receiver 113b,
The automated guided vehicle 1 determines whether or not the roll load 101 is placed.
04 cannot be detected. Therefore, the roll load 10
Whether or not the first core 106 is placed on the load receiving portions 105a and 105b is determined after the load receiving portions 105a and 105b are once moved to their home positions.

Therefore, the roll load 101 is the vehicle body 112.
Even if it is dropped on the upper surface of the vehicle or on the ground, the automatic guided vehicle 104 moves the load receiving portions 105a and 105b to the home position. When the load receiving portions 105a and 105b are returned to their home positions in such a situation, the roll load 101 that has fallen may damage the winder 100 and other peripheral devices, or the worker may be injured.

Therefore, in the present invention, the cargo receiving portions 105a, 1
05b and the material of the core
It is an object of the present invention to provide a luggage detection device capable of detecting the loading state of the luggage a, 105b and having a simple wiring process.

[0022]

The load detecting device of the present invention places a load on a roll in order to detect whether or not the load is placed at an appropriate position when the load is conveyed. The load receiving section is provided with a detected part that moves up and down in association with the load mounting status of the load receiving section, and a detection unit that detects the load mounting status of the load receiving section based on the position of the detected section.

Further, since the load receiving section can slide with respect to the vehicle main body, in order to detect the loading condition of the load receiving section regardless of the position of the load receiving section with respect to the vehicle main body, The luggage detection device is provided with a first detection means and a second detection means. The first detecting means detects, using the above-mentioned detected portion, the loading state of the cargo of the cargo receiving portion at an appropriate position (hereinafter referred to as “home position”) suitable for transporting the luggage, and the second detecting means. Detects the loading status of the luggage in the cargo receiving portion other than the proper position. Further, in the baggage detection device of the present invention, an interactive optical sensor is used for the first detecting means, and a reflective optical sensor is used for the second detecting means, so that both detecting means are provided in the main body. While
Regardless of the position of the cargo receiving section, it is possible to detect the loading status of the cargo in the cargo receiving section. Since the detection means detects the loading state of the package based on the position of the detected part, the loading state of the package can be accurately detected no matter what package the core of which is used. can do.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (Embodiment 1) As shown in FIG. 1, an automated guided vehicle 4 equipped with a load detection device 15 of the present invention is a load receiving device for supporting a core 6 of a roll load 1 as in the conventional case. Part 5
a and 5b are provided, and it is possible to travel on a rail or a road surface. Further, the load receiving portions 5a and 5b are driven by a driving portion (not shown) in the front-rear direction or in the left-right direction (in the automatic guided vehicle 4 shown in FIG. 1,
The structure capable of moving in the front-back direction is also the same as the conventional one.

The vehicle body 12 of the automated guided vehicle 4 shown in FIG. 1 is provided with a luggage detection device 15. The baggage detection device 15 includes a detection unit 38 and a detected portion 17. The detecting means 38 detects the load receiving parts 5a, 5b based on the position of the detected part 17 provided in the load receiving parts 5a, 5b.
It is detected whether or not the roll load 1 is placed on 5b.

The detecting means 38, as shown in FIG.
Of the first sensor 40 and the second sensor 50 as the second detecting means. In this embodiment, an interrupter type photo sensor is used as the first sensor 40. The first sensor 40 is provided at a position where light is blocked by the dog 23 of the detected portion 17 when the load receiving portions 5a and 5b on which the core 6 is placed are located at the home position.

The second sensor 50 is provided on the left and right of the first sensor 40 as shown in FIG. In the present embodiment, a reflection type optical sensor is used as the second sensor 50. The light emitted from the second sensor 50 is emitted in parallel with the moving direction of the load receiving portions 5a and 5b.

Further, the detected portion 17 is shown in FIG.
As shown in (b), a rod 20 having a part projecting in the center of the load receiving portion 5a, 5b and the load receiving portion 5
a spring 21 that pushes up above a and 5b, a connecting member 22 that horizontally projects from the rod 20, and a connecting member 22
The dog 23 is fixedly attached to the dog 23, and the reflector 24 is supported at one end of the horizontal portion of the dog 23.

When the automatic guided vehicle 4 receives an instruction to store the roll load 1 supported by the winding machine 2 in a predetermined storage rack, the automatic guided vehicle 4 can be operated by the winding machine 2 as in the conventional case. To a load-removing position near the load-removing unit 2 and move the load-receiving portions 5a and 5b below the core 6 of the roll load 1 supported by the winder 2. Next, the load receiving portions 5a and 5b are synchronously moved up and down by a predetermined distance, and the core 6 of the roll load 1 is lifted by the load receiving portions 5a and 5b. When the cargo receiving parts 5a and 5b are moved up by a predetermined distance, the automatic guided vehicle 4 moves the load receiving parts 5a and 5b slightly to the side opposite to the winder 2 and lowers the load receiving parts 5a and 5b by the same distance. Let

When the core 6 is placed on the load receiving portions 5a and 5b, the rod 20 is pushed downward by the weight of the roll load 1 and the spring 21 is contracted downward. When the spring 21 contracts and the rod 20 moves downward with respect to the load receiving portions 5a and 5b, the dog 23 and the reflecting material 24 also move downward with respect to the load receiving portions 5a and 5b via the connecting member 22. Become.

As the reflecting material 24 descends, the light emitted from the second sensor 50 can be applied to the reflecting material 24 as shown in FIG. 4, and is reflected by the reflecting material 24. The light will be incident on the second sensor 50. When light is incident on the second sensor 50, the automated guided vehicle 4 detects that the core 6 is placed on the load receiving portions 5a and 5b.

Suppose that the cargo receiving portions 5a, 5b are located at the above-mentioned pickup position.
, The core 6 is moved to the load receiving portion 5
If not placed on a and 5b, the reflecting material 24 will not descend with respect to the load receiving portions 5a and 5b as described above. Even if the load receiving portions 5a and 5b are lowered by a predetermined distance as described above while the reflecting material 24 is not lowered, the light emitted from the second sensor 50 is not irradiated on the reflecting material 24.
Therefore, in the automatic guided vehicle 4, when the light is not incident on the second sensor 50 after the load receiving portions 5a and 5b are lowered at the load receiving position, the core 6 is not placed on the load receiving portions 5a and 5b. Make a decision. In this case, the automatic guided vehicle 4 stops the carrying work, generates a warning sound, and lights a warning lamp to notify the worker that the roll load 1 was not normally acquired. ing.

As described above, when light is incident on the second sensor 50 (the core 6 is placed on the load receiving portions 5a and 5b), the automatic guided vehicle 4 receives the load receiving portions 5a and 5b. To the home position.

At this time, the roll load 1 receives the load receiving portions 5a, 5b.
Since it is placed on the dog 23 like the reflector 24
Is also falling. With the dog 23 lowered, the cargo receiving section 5
When a and 5b move to the home position, the dog 23 blocks the light emitted from the interrupter type first detecting means 40 as shown in FIG. When the light of the first detection means 40 is blocked, the automatic guided vehicle 4 is not loaded with the cargo receiving portion 5
It is determined that a and 5b are located at the home position and the core 6 is placed on the load receiving portions 5a and 5b. Since the first sensor 40 is provided in this manner, the load receiving portions 5a and 5b can be moved to the home position with the core 6 placed.
When the power of the automatic guided vehicle 4 is turned off once,
When the power is subsequently turned on, the automated guided vehicle 4 can also detect that the core 6 is placed on the load receiving portions 5a and 5b at the home position.

In the automatic guided vehicle 4, when it is determined that the load receiving portions 5a and 5b are located at the home position and the core 6 is placed on the load receiving portions 5a and 5b, the unmanned guided vehicle 4 is placed near a predetermined storage rack in accordance with the transport instruction ( Move to the loading position.

When the guided vehicle 4 moves to the loading position and the core 6 falls from the load receiving portions 5a and 5b, the rod 21 is pushed upward by the spring 21 and the rod 20 is pushed upward. As a result, the dog 23 also moves upward. Therefore, since the dog 23 cannot block the light of the first detection means 40, the automated guided vehicle 4 can also detect that the core 6 has fallen from the load receiving portions 5a and 5b during movement.

When the automatic guided vehicle 4 moves to the loading position,
The load receiving portions 5a and 5b are moved up and down to a position where the core 6 of the roll load 1 is above the core receiver 9 on which the roll load 1 is placed as in the conventional case. Then, the automatic guided vehicle 4 has the cargo receiving parts 5a, 5
By moving b, the core 6 is moved above the core receiver 9. When the receiving parts 5a and 5b are moved, the automatic guided vehicle 4
At the loading position, the load receiving portions 5a and 5b are lowered by the same distance as the raised distance, and the core 6 is placed on the core receiver 9.
When the roll load 1 is placed on the core receiver 9, the rod 20 is pushed upward by the spring 21, and the dog 20 and the reflector 24 are also moved upward by pushing the rod 20.

Even if the load receiving portions 5a, 5b are lowered by the same distance as the load receiving portions 5a, 5b are moved while the reflecting material 24 is moving upward, the reflecting plate 24 is not irradiated with the light emitted from the second sensor 50. . When no light is incident on the second sensor 50, the automatic guided vehicle 4 determines that the roll load 1 is stored in the storage rack, and ends the transfer work.

Suppose that the load receiving portions 5a, 5a are placed at the loading position.
When light is incident on the second sensor 50 even if b is raised or lowered, the automated guided vehicle 4 determines that the roll load 1 is not stored in the storage rack. Then, in this case, the automatic guided vehicle 4 may generate a warning sound or turn on a warning lamp to warn the operator that the roll load 1 is not stored normally.

Although the case where the reflector 24 on the right side of FIG. 4 and the second sensor 50 are used has been described above, the load receiving portion 5a,
When 5b is moved to the left side of FIG.
And the second sensor is used to detect the loading state of the package.

As described above, since the detecting means 38 is provided on the vehicle body 12 instead of the load receiving portions 5a and 5b which can move with respect to the body, the wiring of the detecting means 38 does not become complicated.

The case where the luggage detection device 15 is provided in the automatic guided vehicle 4 has been described above.
May be used for manned transport vehicles. Further, the transported luggage may be luggage other than the luggage supported by the winder 2, for example, luggage stored in a storage rack or luggage mounted on a transportation vehicle such as a truck. The destination of the luggage is not limited to the storage rack, but may be a carrier or the winder 2.

[0043]

The load detecting device of the present invention can detect the loading condition of the load on the load receiving portion regardless of the position of the load receiving portion.

Further, instead of detecting the loading condition of the package by reflecting the light on the core, the loading condition of the package is detected by moving the object to be detected using the weight of the package. Therefore, it is possible to accurately detect the loading state of the luggage regardless of the material of the core.

As described above, since the detecting means is provided in the main body instead of the load receiving portion which can move with respect to the main body, the wiring of the detecting means is not complicated.

Since the position where the detecting means and the detected portion are provided has been a dead space in the past, even if the detecting means and the detected portion are provided, they do not interfere with other members.

[Brief description of drawings]

FIG. 1 is an overall view of an automated guided vehicle equipped with a luggage detection device of the present invention.

FIG. 2 is a schematic view of a luggage detection device.

FIG. 3 is a schematic diagram of a detected part.

FIG. 4 is a schematic view of a luggage detection device.

FIG. 5 is a schematic view of a luggage detection device.

FIG. 6 is a schematic view of a conventional automatic guided vehicle.

FIG. 7 is a schematic view of a conventional detection means.

FIG. 8 is a schematic view of a conventional detection means.

[Explanation of symbols]

5a, 5b cargo receiving section 17 Detected part 38 Detection means 40 First Detection Means 50 Second detection means

Claims (3)

[Claims] 1. A detection part that moves up and down in association with a loading state of a load of a load receiving part that is slidable with respect to a vehicle body when the load is placed, and the load receiving part regardless of the position of the load receiving part. A luggage detection device comprising a vehicle body equipped with a detection means for detecting the loading state of the luggage in the cargo receiving portion based on the position of the detection portion. 2. The first detecting means for detecting the loading condition of the cargo of the cargo receiving portion at the proper position suitable for carrying the cargo, and the cargo receiving portion for being positioned at a position other than the proper position. The luggage detection device according to claim 1, further comprising a second detection unit that detects a loading state of the luggage. 3. The first detecting means is an interrupter type optical sensor in which light is blocked by the detected part, and the second detecting means is reflection type light which reflects light in the detected part. The luggage detection device according to claim 2, which is a sensor.