JP2009023825A - Conveying vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a conveying vehicle capable of enhancing the conveying efficiency by reducing the moving time and the moving distance when conveying an object to be conveyed. <P>SOLUTION: A first transfer device 17a and a second transfer device 17b for performing the transfer operation for carrying in and carrying out an object 11 are arranged on a vehicle body 15 of a tracked truck 10. The first and second transfer devices 17a, 17b are capable of independently controlling each transfer operation. Thus, the transfer operation of the first transfer device 17a and the transfer operation of the second transfer device 17b are simultaneously performed. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a transport vehicle equipped with a transfer device that performs a transfer operation of a transported object.

  2. Description of the Related Art Conventionally, a cart that can travel on rails laid on a factory floor is used to transport a load supplied from a cargo handling device (see, for example, Patent Document 1). As this type of carriage, for example, a tracked carriage 30 that travels unmanned along a predetermined track (rail 13) as shown in FIG. 8 is known.

  The tracked carriage 30 is provided with a transfer device 33 that performs a transfer operation of the conveyed product 32 on the vehicle body 31. The transfer device 33 is configured by arranging a plurality of rollers 34 side by side in the vehicle width direction. In addition, the transfer device 33 drives the plurality of rollers 34 in a predetermined rotation direction, thereby transferring the conveyed product 32 through the loading / unloading ports 35 and 36 formed on both sides of the vehicle body 31 in the vehicle width direction. It is supposed to be.

The rail 37 is provided with unloading devices 38 a to 38 d for carrying the material 32 to and from the tracked carriage 30. In FIG. 8, two cargo handling devices 38a and 38b are arranged opposite to each other with the rail 37 interposed therebetween. As a result, the tracked carriage 30 is configured such that after the transported object 32 is carried into the transfer device 33 from the designated handling device (for example, the handling device 38a), another designated handling device (for example, the handling device). 38c or the cargo handling device 38d) travels on the rail 37 so as to transport the transported object 32.
Japanese Utility Model Publication No. 62-71103

  However, in the case of the tracked carriage 30 as shown in FIG. 8, the conveyed product 32 can be simultaneously loaded into the transfer device 33 only from one of the loading / unloading ports 35 and 36. In other words, in the tracked carriage 30, the movement direction of the transfer device 33 can be controlled in only one direction, and therefore, the conveyed product cannot be carried into the transfer device 33 from both the loading / unloading ports 35 and 36 at the same time. Further, in the tracked carriage 30, the conveyed product cannot be carried out simultaneously from both the loading / unloading ports 35 and 36 to separate handling devices (for example, the handling device 38 a and the handling device 38 b). That is, the tracked carriage 30 can physically carry two or more transported objects 32, but after transporting the transported object 32, unless the transport of the transported object 32 is completed, the next transported object 32 could not be loaded. For this reason, in the conventional tracked carriage 30, an operation of carrying the conveyed product 32 from a different handling device to a transfer device 33 from a different direction, and an operation of carrying the conveyed product 32 from a different direction to a different handling device. Cannot be performed at the same time. Therefore, it takes time to complete the predetermined work, and it takes time to complete the work as the travel distance of the tracked carriage 30 increases.

  The present invention has been made in view of the actual situation of the prior art, and provides a transport vehicle capable of shortening the travel time and travel distance when transporting a transported object and improving transport efficiency.

  In order to solve these problems, the invention described in claim 1 includes a loading / unloading port for loading and unloading a conveyed product on both sides in the vehicle width direction of the vehicle body, and the transfer operation of the conveyed product via the loading / unloading port. In the transport vehicle equipped with the transfer device that performs the above, the vehicle body is provided with a first transfer portion and a second transfer portion that constitute the transfer device in parallel along the vehicle width direction, The first transfer unit is provided with a first drive unit that causes the first transfer unit to perform a transfer operation, and the second transfer unit performs a transfer operation on the second transfer unit. The second drive unit to be performed is provided separately from the first drive unit, and includes control means for controlling the first drive unit and the second drive unit independently, and the first transfer unit It is the gist that the transported object can be carried in and out simultaneously from the loading / unloading port on both sides with respect to the transfer part and the second transfer part. To.

  According to this configuration, the first drive unit of the first transfer unit and the second drive unit of the second transfer unit have conventionally been able to carry in and carry out the conveyed object only from one side of the carry-in / out port. By adopting a configuration in which the part is a separate configuration and the control means controls independently, it is possible to simultaneously carry in and carry out the conveyed product from the carry-in / out ports on both sides. Therefore, it is possible to shorten the moving time or moving distance of the transport vehicle, and the transport efficiency is improved.

  The invention according to claim 2 is the transport vehicle according to claim 1, wherein the first transfer unit and the second transfer unit are configured such that the transport surface of the transported object in the first transfer unit The loading surface of the transported object in the second transfer unit is disposed at the same height, and the transported object is transferred between the transfer units of the first transfer unit and the second transfer unit. The gist is that it is configured to be able to operate.

  According to the same configuration, the first transfer unit and the second transfer unit are arranged at the same height on the first transfer unit and the second transfer unit on the second transfer unit. The transfer operation of the conveyed product between the transfer units of the transfer unit can be performed.

  According to a third aspect of the present invention, in the transport vehicle according to the second aspect, the first transfer portion and the second transfer portion are disposed at a predetermined interval in the vehicle width direction. The rotating body is in contact between the first transfer section and the second transfer section when the transported object moves between the two transfer sections and rotates by receiving the moving force of the transported object. The gist is that is arranged.

  According to this configuration, when performing the transfer operation of the conveyed product between the transfer units of the first transfer unit and the second transfer unit, the transfer operation of the conveyed product can be assisted by the rotating body. It becomes possible, and it is possible to perform the transfer operation | movement of a conveyed product smoothly between a 1st transfer part and a 2nd transfer part.

The invention according to claim 4 is summarized in that, in the transport vehicle according to claim 3, the rotating body is disposed at a center in the vehicle width direction.
According to this configuration, it is possible to provide the first transfer unit and the second transfer unit having the same space in the vehicle width direction. It is possible to carry it out.

The gist of the invention described in claim 5 is that the carrier vehicle according to any one of claims 1 to 4 is a tracked carriage that travels unattended along a predetermined track.
According to this configuration, when the transported object is transported to a predetermined place, the travel time or travel distance of the transport vehicle can be shortened.

  According to the present invention, it is possible to shorten the movement time and the movement distance when conveying a conveyed product, and to improve the conveyance efficiency.

Hereinafter, an embodiment of the present invention will be described.
FIG. 1 shows a transport system 12 that transports a transported object 11 such as various parts using a tracked carriage 10 as a transport vehicle in a factory.

  The transport system 12 is provided with a tracked carriage 10 on a single rail 13 formed in a circular closed loop on the floor in the factory, and a ground control panel for controlling the travel of the tracked carriage 10. M is provided. The tracked carriage 10 is capable of supplying power to the ground control panel M and communicating control signals related to traveling via various trolley wires (not shown) arranged along the rails 13. To be done. As a result, the tracked carriage 10 is supplied with electric power via the trolley wire, and runs unmanned on the rail 13 in the directions of the arrow A and the arrow B.

  In addition, on the rail 13, cargo handling devices (for example, belt conveyors) 14 a to 14 d are disposed at a stop position where the tracked carriage 10 delivers the conveyed product 11. Each cargo handling device 14a-14d is arrange | positioned in the aspect which opposes on both sides of the rail 13. As shown in FIG. Then, the tracked carriage 10 receives the conveyed product 11 from the cargo handling devices 14a to 14d, and performs a delivery operation of conveying the conveyed product 11 to the designated cargo handling devices 14a to 14d. For example, in the conveyance system 12, the conveyed product 11 is received from the handling device 14a which is a conveyance source, and the conveyed product 11 is conveyed to the handling device 14b which is a conveyance destination.

Next, the structure of the tracked carriage 10 will be described with reference to FIGS. 2 and 3.
Below the vehicle body 15 of the tracked carriage 10, a plurality of wheels (not shown) for traveling on the single rail 13 are arranged in parallel along the traveling direction. The carriage 10 travels on the rail 13 by rotating wheels by the power of the traveling drive unit 16 (shown in FIG. 4). The travel drive unit 16 includes a drive source (for example, a travel motor) of the tracked carriage 10 and power transmission means for transmitting the power of the drive source to the wheels. In the following description, the direction of arrow A shown in FIG. 2 is the forward direction as the traveling direction of the tracked carriage 10, and the direction of arrow B is the backward direction as the traveling direction of the tracked carriage 10.

  Above the vehicle body 15, a transfer device 17 that performs a transfer operation for loading and unloading the conveyed product 11 between the cargo handling devices 14 a to 14 d and the tracked carriage 10 is disposed. In addition, the vehicle body 15 is provided with loading / unloading ports 18 and 19 for loading / unloading the object 11 opened on both sides in the vehicle width direction (direction perpendicular to the traveling direction). , 19, the transfer object 11 is carried into and out of the transfer device 17.

  In the present embodiment, the transfer device 17 includes two units: a first transfer device 17a as a first transfer unit and a second transfer device 17b as a second transfer unit. A first transfer device 17a and a second transfer device 17b are arranged above the vehicle body 15 along the vehicle width direction. More specifically, the first transfer device 17 a is connected to the carry-in / out port 18, and the carried object 11 is carried in and out through the carry-in / out port 18. On the other hand, the second transfer device 17 b is connected to the loading / unloading port 19, and the loaded object 11 is loaded and unloaded through the loading / unloading port 19. Further, the first transfer device 17a and the second transfer device 17b are arranged at a predetermined interval in the vehicle width direction, and are separated to the left and right of the vehicle body 15 when viewed from the forward direction of the tracked carriage 10. Has been placed. These first and second transfer devices 17a and 17b have independent drive units (first transfer drive unit 20a and second transfer drive unit 20b), and each transfer operation is independent. To be controlled.

  Hereinafter, the configuration of the transfer device 17 will be described in more detail. In the present embodiment, the first transfer device 17a and the second transfer device 17b constituting the transfer device 17 have the same configuration.

  The first and second transfer devices 17a and 17b are respectively provided with a plurality (five in this embodiment) of rod-like rollers (rotating members) 21a and 21b, and each roller 21a and 21b is a vehicle. It is arranged along the width direction. Each roller 21a, 21b is disposed so that its central axis is along the traveling direction, and is supported rotatably with respect to the vehicle body 15. Each of the rollers 21a and 21b incorporates a motor (not shown) that applies a rotational force, and each of the rollers 21a and 21b is rotated by the operation of the motor. In addition, the motor built in each roller 21a, 21b is set as the structure which can rotate forward / reversely.

  In the present embodiment, the first drive unit that causes the first transfer device 17a to perform a transfer operation by the motors built in the five rollers 21a provided in the first transfer device 17a. The first transfer driving unit 20a (shown in FIG. 4) is configured. Further, in the present embodiment, as the second drive unit that causes the second transfer device 17b to perform the transfer operation by the motors built in the five rollers 21b provided in the second transfer device 17b. The second transfer driving unit 20b (shown in FIG. 4) is configured.

  In the present embodiment, the rollers 21a and 21b have the same configuration. That is, the rollers 21a and 21b have the same length and the same diameter. And each roller 21a, 21b is arrange | positioned so that the center axis line may become horizontal and may become the same height position. Thus, a mounting surface 22a (indicated by a two-dot chain line in FIG. 2) on which the conveyed product 11 is mounted is formed on the first transfer device 17a by the five rollers 21a arranged in parallel in the vehicle width direction. In addition, a mounting surface 22b (indicated by a two-dot chain line in FIG. 2) on which the conveyed product 11 is mounted is formed on the second transfer device 17b by five rollers 21b arranged in parallel in the vehicle width direction. The mounting surface 22a of the first transfer device 17a and the mounting surface 22b of the second transfer device 17b are both horizontal, and the mounting surface 22a and the mounting surface 22b are stepped between the mounting surfaces 22a and 22b. There is no, and it is arranged at the same height position. The mounting surface 22a and the mounting surface 22b have the same area.

  Moreover, between the 1st transfer apparatus 17a and the 2nd transfer apparatus 17b, the free roller 23 is arranged in parallel by the vehicle width direction as a rod-shaped rotary body. The free roller 23 is disposed at the center in the vehicle width direction. The free roller 23 is rotatably supported by the vehicle body 15 so that the center axis thereof is along the traveling direction. In the present embodiment, the free roller 23 is formed with the same length as each of the rollers 21a and 21b, but is formed with a different diameter so as to have a larger diameter than the rollers 21a and 21b. The free roller 23 has a height position on the peripheral surface thereof that is the same height position as the mounting surfaces 22a and 22b of the first and second transfer devices 17a and 17b. It is arrange | positioned so that a level | step difference may not be formed between 22b. That is, the free roller 23 is attached to the vehicle body 15 so that the center axis thereof is positioned below the center axis of each of the rollers 21a and 21b.

  With this configuration, in the tracked carriage 10 of this embodiment, the first transfer device 17a, the free roller 23, and the second transfer device 17b are arranged in parallel from the loading / unloading port 18 side. And in the tracked carriage 10 of this embodiment, from the loading / unloading port 18 toward the loading / unloading port 19, the mounting surface 22a of the first transfer device 17a, the peripheral surface of the free roller 23, and the second transfer device 17b. The mounting surface 22b forms a substantially flat and flat surface. Thereby, in the tracked carriage 10, the transfer operation for transporting the transport object 11 from the first transfer device 17a to the second transfer device 17b, and the transport object from the second transfer device 17b to the first transfer device 17a. 11 can be transferred. That is, in the tracked carriage 10 of this embodiment, there is no partition member or the like between the first transfer device 17a and the second transfer device 17b, and the carry-in / out port 18 and the carry-in / out port 19 communicate with each other. It is in a state.

  Further, the free roller 23 comes into contact with the transported object 11 when the transported object 11 moves between the first and second transfer devices 17a and 17b, and rotates in response to the moving force of the transported object 11. Specifically, when the transported object 11 moves from the first transfer device 17a to the second transfer device 17b, the free roller 23 receives the force in the moving direction to move the transported material 11 to the second transfer device. It rotates so that it may send out to 17b side. On the other hand, when the conveyed product 11 moves from the second transfer device 17b to the first transfer device 17a, the free roller 23 receives the force in the moving direction and sends the conveyed product 11 to the first transfer device 17a side. Rotate like so. That is, the free roller 23 does not have a drive source such as a motor, and naturally rotates only by the moving force of the conveyed product 11 that moves between the first and second transfer devices 17a and 17b. The movement is assisted so that the first and second transfer apparatuses 17a and 17b can move smoothly.

  Further, as shown in FIG. 3, the tracked carriage 10 is provided with a plurality of types of sensors for detecting the transfer position (presence / absence) of the transported object 11 in the first transfer device 17a and the second transfer device 17b. ing. In the first transfer device 17a, in order from the loading / unloading port 18 side, a first load sensor 24, a load sensor 25, and a second load sensor 26 are arranged at predetermined intervals in the vehicle width direction. ing. Similarly, in the second transfer device 17b, in order from the loading / unloading port 19 side, the first load protrusion sensor 24, the load sensor 25, and the second load protrusion sensor 26 are arranged at predetermined intervals in the vehicle width direction. It is arranged.

  Each first unloading sensor 24 includes a light emitting unit 24a and a light receiving unit 24b. The light emitting unit 24a and the light receiving unit 24b move the roller 21a of the first transfer device 17a and the roller 21b of the second transfer device 17b in the traveling direction. Oppositely arranged across. Each occupancy sensor 25 includes a light emitting unit 25a and a light receiving unit 25b. The light emitting unit 25a and the light receiving unit 25b move the roller 21a of the first transfer device 17a and the roller 21b of the second transfer device 17b in the traveling direction. Oppositely arranged across. Each second load sensor 26 includes a light emitting unit 26a and a light receiving unit 26b. The light emitting unit 26a and the light receiving unit 26b travel on the roller 21a of the first transfer device 17a and the roller 21b of the second transfer device 17b. Oppositely arranged across the direction. Each light receiving part 24b, 25b, 26b converts the amount of light received by each light emitting part 24a, 25a, 26a into an electrical signal and outputs it to a control device 27 (shown in FIG. 4) mounted on the vehicle body 15.

  As a result, when the light emitted from each of the light emitting units 24a, 25a, and 26a is blocked, the control device 27 receives the electrical signal output from each of the light receiving units 24b, 25b, and 26b and detects the presence of the conveyed object 11 at that time. To do. For example, in the first transfer device 17a, when only light emitted from the light emitting unit 24a of the first unloading sensor 24 is blocked in the first transfer device 17a, the control device 27 determines that the conveyed object 11 is based on the electric signal output from the light receiving unit 24b at that time. The presence of the first load protrusion sensor 24 is detected. On the other hand, when the light emitted from the light emitting units 24a, 25a, and 26a is not blocked, the control device 27 receives the electrical signal output from each of the light receiving units 24b, 25b, and 26b and detects the presence of the conveyed object 11 at that time. do not do.

  It should be noted that the first unloading sensor 24, the second unloading sensor 26, and the unloading sensor 25 are less likely to spread signals spatially compared to the method of sensing with radio waves in order to accurately detect the position of the transported object 11. It is preferable to use an infrared sensor.

Next, the electrical configuration of the tracked carriage 10 will be described with reference to FIG.
As described above, the tracked carriage 10 is provided with the control device 27 that executes various controls. In addition, the tracked carriage 10 is provided with a power feeding device 28 that receives power supply from a trolley wire provided along the rail 13. The power feeding device 28 supplies power for operation to the control device 27, the driving units 16, 20a, and 20b, and the sensors 24 to 26. The control signal output from the ground control panel M is received via the power feeding device 28, and the received control signal is input to the control device 27.

  The control device 27 is connected to a first load protruding sensor 24, a second load protruding sensor 26, and a load sensor 25 for detecting the transfer position of the conveyed object 11. The control device 27 receives the electrical signals from these sensors 24 to 26 and detects the transfer position of the conveyed product 11. The control device 27 controls the transfer drive units 20a and 20b and the travel drive unit 16 based on the input electric signal and the control signal from the ground control panel M, and the first transfer device 17a and the second transfer device. The transfer operation of the device 17b and the traveling operation of the tracked carriage 10 are controlled.

  In the present embodiment, when the controller 27 carries the conveyed product 11 into the first transfer device 17a from the loading / unloading port 18, all the rollers 21a are in the forward direction, that is, the conveyed item 11 is on the center side of the vehicle body 15. Then, it is rotated so as to send out toward the loading / unloading port 19 side. Moreover, in this embodiment, when the control apparatus 27 carries out the conveyed product 11 mounted in the 1st transfer apparatus 17a from the carrying in / out port 18, all the rollers 21a are reverse direction, ie, the conveyed product 11 carries out the carrying in / out port 18. Rotate to send out toward.

  On the other hand, in the present embodiment, when the controller 27 carries the conveyed product 11 into the second transfer device 17b from the loading / unloading port 19, all the rollers 21b are moved in the reverse direction, that is, the conveyed item 11 is on the center side of the vehicle body 15. And rotate to send out toward the loading / unloading port 18 side. Moreover, in this embodiment, when the control apparatus 27 carries out the conveyed product 11 mounted in the 2nd transfer apparatus 17b from the carrying in / out port 19, all the rollers 21b are set to the normal | positive direction, ie, the conveyed product 11 is carried in the carrying out outlet 19. Rotate to send out toward.

  FIG. 5 is a flowchart showing a control processing procedure when the conveyed product 11 is carried into each of the first transfer device 17a and the second transfer device 17b in the present embodiment. This series of processing is executed by the control device 27.

  As shown in FIG. 5, the control device 27 detects whether the first load sensor 24 senses the conveyed product 11 when the conveyed product 11 is conveyed from the designated handling device to the transfer device 17. It is determined whether or not (step S100). When the first load protruding sensor 24 senses the transported object 11, the transported object 11 is transferred to and transferred through the transfer device 17. It is determined whether or not 25 senses the conveyed product 11 (step S200).

  On the other hand, in the process of step S <b> 100, when the first unloading sensor 24 does not sense the transported object 11, the transported object 11 is not yet transferred to the transfer device 17. Therefore, the control device 27 returns to step S100 again, and determines whether or not the first unloading sensor 24 senses the conveyed product 11.

  In the process of step S <b> 200, when the occupancy sensor 25 senses the transported object 11, the transported object 11 is passing through a vicinity of a predetermined mounting position of the transfer device 17. For this reason, the control device 27 determines whether or not the first unloading sensor 24 senses the conveyed product 11 (step S300). In the present embodiment, the predetermined mounting position is a substantially central position on each of the mounting surfaces 22a and 22b in the first transfer device 17a and the second transfer device 17b.

  On the other hand, in the process of step S200, when the occupancy sensor 25 does not sense the transported object 11, the transported object 11 is still passing the vicinity of the first load protruding sensor 24. For this reason, the control apparatus 27 returns to step S200 again, and judges whether the in-stock sensor 25 has sensed the conveyed product 11 or not.

  In the processing of step S300, when the first load protrusion sensor 24 does not detect the conveyed object 11 while the presence sensor 25 senses the conveyed object 11, the conveyed object 11 has passed the first unloaded sensor 24. State. For this reason, the control device 27 determines whether or not the second unloading sensor 26 senses the conveyed product 11 (step S400). On the other hand, in the process of step S300, when the presence sensor 25 senses the conveyed object 11 and the first load protrusion sensor 24 senses the conveyed object 11, the conveyed object 11 and the first load protrusion sensor 24 are detected. It is in a state of passing between the presence sensors 25. For this reason, the control device 27 returns to step S300 again, and determines whether or not the first unloading sensor 24 senses the conveyed product 11.

  In the process of step S400, when the second load protrusion sensor 26 senses the transported object 11, the transported object 11 protrudes beyond a predetermined mounting position. Therefore, the control device 27 corrects the position of the conveyed product 11 so as to return to the predetermined mounting position (step S500). Hereinafter, the process (control) performed by the control device 27 in step S500 will be described by taking as an example a case where the conveyed product 11 carried in from the carry-in / out port 18 protrudes beyond a predetermined mounting position of the first transfer device 17a. To do. When the transported object 11 is carried into the first transfer device 17a, the control device 27 controls all the rollers 21a constituting the first transfer drive unit 20a to rotate in the forward direction. The conveyed product 11 moves toward the center of the vehicle body 15. Therefore, the control device 27 switches the rotation direction of all the rollers 21a from the normal direction to the reverse direction. As a result, the transported object 11 that protrudes beyond the predetermined mounting position of the first transfer device 17 a is switched in the moving direction and moves toward the loading / unloading port 18. When the first and second load protrusion sensors 24 and 26 do not sense the conveyed object 11 and the occupancy sensor 25 senses the conveyed object 11, the control device 27 detects the conveyed object 11. Is returned to the predetermined mounting position of the first transfer device 17a, the rotation of all the rollers 21a is stopped, and the process of step S500 is ended. In addition, although the 1st transfer apparatus 17a was demonstrated to the example about the process of step S500, the point which corrects the mounting position of the conveyed product 11 by reversing the rotation direction of the roller 21b also in the case of the 2nd transfer apparatus 17b. The same.

  On the other hand, in the process of step S400, when the second load protrusion sensor 26 does not sense the transported object 11, the transported object 11 is mounted at a predetermined mounting position. For this reason, the control device 27 stops the operation of the transfer device 17. (Step S550). By the processing of each step S500 and step S550, the transported object 11 can be stopped at a predetermined mounting position of the transfer device 17, and the control process for confirming the transport position of the transported object 11 in the control device 27 ends.

  The tracked carriage 10 of this embodiment is provided with a first transfer device 17a and a second transfer device 17b, and the first transfer device 17a and the second transfer device 17b are driven separately. The conveyed product 11 can be simultaneously transferred from the loading / unloading ports 18 and 19, and the conveyed product 11 can be transferred from the loading / unloading ports 18 and 19 on one side. Hereinafter, various aspects of the transfer operation in the tracked carriage 10 of this embodiment will be described with reference to FIGS. 6 and 7.

  FIG. 6A shows a mode in which the transported object 11 is simultaneously transferred (loaded) from the loading / unloading ports 18 and 19 on both sides. In this case, the control device 27 controls the first and second transfer driving units 20a and 20b to apply the rotational force of the rollers 21a and 21b, and forwardly rotates all the rollers 21a of the first transfer device 17a. All the rollers 21b of the second transfer device 17b are reversely rotated. Therefore, the conveyed product 11 is carried into the first transfer device 17a and the second transfer device 17b simultaneously from the loading / unloading ports 18 and 19 on both sides.

  FIG. 6B shows a mode in which the transfer object 11 is simultaneously transferred (unloaded) to the loading / unloading ports 18 and 19 on both sides. In this case, the control device 27 controls the first and second transfer driving units 20a and 20b to apply the rotational force of the rollers 21a and 21b, and reversely rotates all the rollers 21a of the first transfer device 17a. All the rollers 21b of the second transfer device 17b are rotated forward. Therefore, the conveyed items 11 of the first transfer device 17a and the second transfer device 17b are simultaneously carried out from the loading / unloading ports 18 and 19 on both sides.

  FIG. 6C shows a mode in which the transported object 11 of the second transfer device 17 b is transferred to the loading / unloading port 19 while the transported material 11 is mounted on the first transfer device 17 a. In this case, the control device 27 controls only the second transfer driving unit 20b that applies the rotational force of the roller 21b, and rotates all the rollers 21b of the second transfer device 17b in the normal direction. At this time, the control device 27 maintains the state in which all the rollers 21a are rotated with respect to the first transfer driving unit 20a. Therefore, only the conveyed product 11 on the second transfer device 17b side is carried out from the loading / unloading port 19 in a state where the conveyed product 11 is mounted on the first transfer device 17a.

  FIG. 7A shows a mode in which the transported object 11 mounted on the first transfer device 17a and the transported material 11 mounted on the second transfer device 17b are simultaneously transferred (unloaded) to the loading / unloading port 19. Is shown. In this case, the control device 27 controls the first and second transfer driving units 20a and 20b that apply the rotational force of the rollers 21a and 21b, and all the rollers 21a of the first and second transfer devices 17a and 17b, 21b is rotated forward. Thereby, the conveyed product 11 of the 2nd transfer apparatus 17b moves to the loading / unloading port 19 side, and is carried out from the loading / unloading port 19. In addition, the conveyed product 11 of the first transfer device 17a similarly moves to the loading / unloading port 19 side and contacts the free roller 23. And the conveyed product 11 of the 1st transfer apparatus 17a receives the moving force given by rotation of the roller 21a, and the free roller 23 which receives the moving force and rotates in the same direction (forward direction) as the roller 21a. It moves over the free roller 23 from the first transfer device 17a to the second transfer device 17b. Thereafter, the conveyed product 11 of the first transfer device 17a is moved to the loading / unloading port 19 side in response to the moving force applied by the rotation of the roller 21b of the second transfer device 17b, and is unloaded from the loading / unloading port 19. Therefore, the conveyed product 11 of the first transfer device 17 a and the conveyed product 11 of the second transfer device 17 b are carried out from the same loading / unloading port 19.

  FIG. 7B shows a mode in which the transported object 11 is transferred (loaded) from the loading / unloading port 18 to the first transfer device 17a while the transported object 11 is mounted on the second transfer device 17b. In this case, the control device 27 controls only the first transfer driving unit 20a that applies the rotational force of the roller 21a, and rotates all the rollers 21a of the first transfer device 17a in the normal direction. At this time, the control device 27 maintains the state where the rotation of all the rollers 21b is stopped for the second transfer driving unit 20b. Therefore, only the conveyed product 11 on the first transfer device 17a side is carried in from the loading / unloading port 18 in a state where the conveyed product 11 is mounted on the second transfer device 17b.

  FIG. 7 (c) shows the operation of transferring the conveyed product 11 from the loading / unloading port 18 to the first transfer device 17a (loading), and simultaneously transferring the conveyed product 11 of the second transfer device 17b to the loading / unloading port 19 ( The mode of carrying out) is shown. In this case, the control device 27 controls the first and second transfer driving units 20a and 20b that apply the rotational force of the rollers 21a and 21b, and all the rollers 21a of the first and second transfer devices 17a and 17b, 21b is rotated forward. Thereby, the conveyed product 11 of the 2nd transfer apparatus 17b moves to the loading / unloading port 19 side, and is carried out from the loading / unloading port 19. In addition, the conveyed product 11 on the first transfer device 17 a side is carried in from the carry-in / out port 18.

  In addition, the aspect of the transfer operation | movement of the tracked carriage 10 in this embodiment is not restricted to the some example demonstrated in FIG.6 and FIG.7, The transfer operation | movement of another aspect can also be performed. For example, in the tracked carriage 10, the transported object 11 mounted on the first transfer device 17a can be carried out from the loading / unloading port 18 while the transported material 11 is mounted on the second transfer device 17b. Further, in the tracked carriage 10, the conveyed product 11 mounted on each of the first and second transfer devices 17 a and 17 b can be carried out from the same loading / unloading port 18. Moreover, in the tracked carriage 10, the conveyed product 11 can be carried into the second transfer device 17b from the loading / unloading port 19 while the conveyed product 11 is mounted on the first transfer device 17a. In addition, the tracked carriage 10 carries the conveyed product 11 mounted on the first transfer device 17a from the loading / unloading port 18, while loading the conveyed product 11 from the loading / unloading port 19 to the second transfer device 17b. Can do. Further, the tracked carriage 10 can carry a plurality of transported objects 11 into the first and second transfer devices 17a and 17b from either one of the carry-in / out ports 18 and 19.

  In the tracked carriage 10 of this embodiment, the timing of performing each transfer operation of the first and second transfer devices 17a and 17b can be controlled independently, so that each transfer operation has the same timing. It may be performed at different timing (having a time difference). For example, in FIGS. 6A, 6B and 7C, the transfer operation may be started at the same timing with respect to the first and second transfer devices 17a, 17b. The transfer operation may be started with a time difference from the start of the other transfer operation. That is, since the transfer device 17 of the tracked carriage 10 can drive the first transfer device 17a and the second transfer device 17b independently, the operation direction of the transfer device 17 can be set to two directions. Even when one transfer device performs the transfer operation, the other transfer device can perform the transfer operation. Thereby, it becomes possible to perform the transfer operation (carrying-in and carrying-out) of the conveyed product 11 from the different directions at the same time with respect to the tracked carriage 10.

According to this embodiment described above, the following effects can be obtained.
(1) In the present embodiment, the first transfer device 17a and the second transfer device 17b each having an independent drive unit above the vehicle body 15 are arranged in parallel along the vehicle width direction. Therefore, the transfer object 11 can be transferred from both sides of the loading / unloading ports 18 and 19 at the same time. Therefore, the travel time or travel distance of the tracked carriage 10 can be shortened, and the conveyance efficiency is improved.

  (2) In this embodiment, the five rollers 21a and 21b of each of the first transfer device 17a and the second transfer device 17b are set so that the central axis is horizontal and is at the same height. Thereby, the transfer operation | movement of the conveyed product between both transfer apparatuses of the 1st transfer apparatus 17a and the 2nd transfer apparatus 17b is attained.

  (3) In the present embodiment, the free roller 23 is disposed between the first transfer device 17a and the second transfer device 17b. Therefore, when performing the transfer operation of the conveyed product 11 between the transfer devices 17a and 17b of the first transfer device 17a and the second transfer device 17b, the transfer operation of the conveyed product 11 is performed by the free roller 23. It is possible to assist. Then, the transported object 11 can be smoothly transferred by the free roller 23. Furthermore, by providing the free roller 23, it is possible to suppress the transported object 11 from falling between the transfer devices 17a and 17b. Further, by using the free roller 23, for example, the conveyed product 11 stops at a predetermined mounting position of the second transfer device 17b, and the conveyed product 11 carried into the first transfer device 17a is placed on the free roller 23. Even when protruding, it is not necessary to rotate the roller 21b of the second transfer device 17b. Therefore, it is possible to stop the conveyed article 11 protruding to the predetermined mounting position of the first transfer device 17a only by the rotation of the roller 21a of the first transfer device 17a.

  (4) In this embodiment, the free roller 23 is provided in the center of the vehicle body 15 in the vehicle width direction. Therefore, the transfer device 17 having the same space on the left and right can be provided. Therefore, it is possible to simultaneously transfer the transported object 11 having the same size from both sides of the loading / unloading ports 18 and 19 in the first and second transfer devices 17a and 17b.

  (5) In the present embodiment, the conveyed product 11 is detected by the first load protrusion sensor 24, the second load protrusion sensor 26, and the load sensor 25. And the control apparatus 27 controls the 1st, 2nd transfer drive parts 20a and 20b based on the electrical signal from each sensor 24-26. Therefore, the conveyed product 11 can be transferred to a predetermined mounting position of the transfer device 17. Furthermore, when the transported object 11 is transported from the designated cargo handling device to another cargo handling device by the tracked carriage 10, the transported material 11 can be transported without dropping.

  (6) The rollers 21a and 21b used in the present embodiment have a built-in motor for applying a rotational force. Therefore, it is not necessary to separately provide spaces for the first and second transfer drive units 20a and 20b in the tracked carriage 10, and the design of the tracked carriage 10 is facilitated.

Note that the present embodiment can be implemented with the following modifications.
-In this embodiment, you may provide the drive means (motor) which provides rotational force to each roller 21a, 21b of 1st, 2nd transfer apparatus 17a, 17b separately from roller 21a, 21b.

  In this embodiment, the free roller 23 disposed between the first and second transfer devices 17a and 17b is provided with a driving means (for example, a motor), and the free roller is driven by the rotational force applied from the driving means. 23 may be rotated.

  -In this embodiment, it may replace with the free roller 23 and may arrange | position several rotary bodies (a roller, a bearing, etc.) between the 1st, 2nd transfer apparatuses 17a and 17b. Further, the first transfer device 17a and the second transfer device 17b may be arranged with an interval so that the transported object 11 does not fall, and a space between the first and second transfer devices 17a and 17b may be used.

In the present embodiment, the first unloading sensor 24, the second unloading sensor 26, and the unloading sensor 25 may be a sensor system that senses with radio waves.
In the present embodiment, one or more wheels may be provided below the vehicle body 15 of the tracked carriage 10.

In the present embodiment, a plurality of rails 13 constituting the travel path of the tracked carriage 10 may be provided, and the tracked carriage 10 may be run on the plurality of rails 13.
The present embodiment may be embodied in other automatic guided vehicles such as a trackless carriage.

The schematic block diagram which shows the conveyance system which conveys a conveyed product using a tracked truck. The perspective view which shows a tracked bogie. The top view which shows a tracked bogie. The block diagram which shows the electrical structure of a tracked bogie. The flowchart which shows the control processing procedure at the time of carrying in a conveyed product. (A)-(c) is a schematic diagram which shows the aspect of the transfer operation | movement in a tracked truck. (A)-(c) is a schematic diagram which shows the aspect of the transfer operation | movement in a tracked truck. The schematic diagram which shows an example of the conventional tracked carriage.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10,30 ... Tracked carriage, 11, 32 ... Conveyance thing, 12 ... Conveyance system, 13, 37 ... Rail, 14a-14d, 38a-38d ... Carrying device, 15, 31 ... Vehicle body, 16 ... Traveling drive part, 17, 33 ... transfer device, 17a ... first transfer device, 17b ... second transfer device, 18, 19, 35, 36 ... loading / unloading port, 20a ... first transfer drive unit, 20b ... second transfer Drive unit, 21a, 21b, 34 ... roller, 22a, 22b ... mounting surface, 23 ... free roller, 27 ... control device.

Claims (5)

In a transport vehicle equipped with a loading / unloading port for loading and unloading a conveyed product on both sides in the vehicle width direction of the vehicle body, and equipped with a transfer device that performs a transfer operation of the conveyed product through the loading / unloading port,
In the vehicle body, a first transfer portion and a second transfer portion constituting the transfer device are arranged in parallel along the vehicle width direction,
The first transfer unit is provided with a first drive unit that causes the first transfer unit to perform a transfer operation, and the second transfer unit is configured to transfer to the second transfer unit. The second drive unit for performing the above is provided in a separate configuration from the first drive unit,
Control means for independently controlling the first drive unit and the second drive unit;
A transport vehicle configured to be capable of simultaneously loading and unloading the transported object from both loading and unloading outlets with respect to the first transfer section and the second transfer section.   In the first transfer unit and the second transfer unit, a mounting surface of the transported object in the first transfer unit and a mounting surface of the transported object in the second transfer unit are arranged at the same height. 2. The apparatus according to claim 1, wherein the transfer object can be transferred between the transfer parts of the first transfer part and the second transfer part. Transport vehicle. The first transfer unit and the second transfer unit are disposed at a predetermined interval in the vehicle width direction,
Between the first transfer unit and the second transfer unit, there is a rotating body that contacts when the conveyed product moves between the two transfer units and rotates by receiving the moving force of the conveyed product. The transport vehicle according to claim 2, wherein the transport vehicle is disposed.   The transport vehicle according to claim 3, wherein the rotating body is disposed at a center in the vehicle width direction.   The transport vehicle according to any one of claims 1 to 4, wherein the transport vehicle is a tracked cart that travels unattended along a predetermined track.

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