JP2012187946A - Load conveying facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a load conveying facility that is a structure in which a conveying truck slips in under a pallet and lifts and transports the pallet, and can eliminate the need of a positioning guide that presents the position where the pallet is put to reduce burden of workers.SOLUTION: A first guideline 41 is provided on the back side of a plain plate 23 of the pallet 13. The conveying truck 12 detects the first guideline 41 provided in this pallet 13, moves along the first guideline 41, slips in the space 21 between the support legs 24, and is automatically guided to the lifting position to pallet 13 by a lifter 32. Even if the pallet 13 is roughly placed at a predetermined position by this structure, the conveying truck 12 can be stopped accurately at the lifting position and the installation of the positioning guide that presents the position where pallet 13 is put can be made unnecessary and worker's burden can be reduced.

Description

  The present invention relates to a load transport facility, and more particularly, to a load transport facility including a transport cart that transports a pallet also serving as a load receiving platform.

An example of the above-described cargo transportation facility is disclosed in Patent Document 1 (FIGS. 6 to 8).
When using a pallet that also serves as a load receiving platform for loading loads, a transfer area (station) for transferring loads does not require a fixed receiving platform for transferring loads with a transfer cart that moves along a fixed travel route. In addition, there is an advantage that the position of the transfer area can be easily changed.

  For transporting such a pallet, a loading platform lifting and lowering transport cart is used. This platform lifting / lowering type carriage is provided with a platform (lifter) that can be raised and lowered at the top. When transporting a pallet that also serves as a cargo receiving platform, the lifter is lowered and sunk under the pallet. Then, the lifter is lifted and the pallet is scooped, and in this state, the pallet is transported to the target transfer area or pallet moving position along the traveling path. When the destination is reached, the lifter is lowered to lower the pallet and escape from the bottom of the pallet.

  The transfer area or the pallet movement position is arranged on the travel path because the transfer carriage is formed under the pallet. In addition, the automatic traveling of the carriage is performed by detecting a guideline (magnetic tape, optical tape, etc.) laid along the traveling path, for example.

JP 2001-180485 A

  However, in the conventional load transport equipment, the transport cart is guided by the guideline laid along the travel route, travels and stops by automatic guidance, and is automatically loaded under the pallet. Therefore, it is necessary to place the pallet at an accurate position (a transfer area or a pallet moving position) on the travel path, and it is necessary to install a positioning guide or the like that indicates the position where the pallet is placed. In addition, when the worker puts it manually, or when using a cargo handling device such as a forklift, the worker needs to place it accurately on the positioning guide, placing an extra burden on the worker.

  Therefore, the present invention is a configuration in which the transport carriage lifts and conveys the pallet under the pallet, and can eliminate the need for a positioning guide for presenting the position to place the pallet, and can reduce the burden on the operator. The purpose is to provide equipment.

  In order to achieve the above-mentioned object, the invention according to claim 1 of the present invention is characterized in that a transported object composed of an upper plate on which an article is placed and a plurality of support legs that support the upper plate, It is a load carrying facility provided with a transport carriage that crawls into a space between support legs and transports using an action means that acts on the transported object, and is provided on the back surface of the upper plate facing the space. The first guide for guiding the action means to the action position where the action means acts on the transported object, the first detection means for detecting the first guideline attached to the back surface of the upper plate is provided on the transport carriage, The transport carriage moves in the space along the first guideline by detecting the first guideline by the first detection means, and moves to the action position.

  According to the above configuration, the first guideline is provided on the back surface of the upper plate of the transported object, and the transport carriage moves along the first guideline by detecting the first guideline, and moves to the transported object by the action means. Reach the working position. Therefore, even if the transported object is roughly placed at a predetermined position, the transport carriage can accurately reach the operating position and can transport the transported object using the operating means.

  The invention according to claim 2 is the invention according to claim 1, wherein a second guideline for guiding the transport carriage to a predetermined position where the transported object is placed on a floor surface on which the transport carriage travels. And a second detection means for detecting a second guideline provided on the floor surface is provided on the transport carriage, and the transport carriage detects the second guideline by the second detection means. When the first guide means detects the first guideline, the detection of the first detection means is prioritized over the detection of the second detection means, and the first detection means detects the first guideline. It moves into the space along one guideline and moves to the action position.

  According to the above configuration, the transport carriage moves to a predetermined position along the second guideline detected by the second detection unit, and subsequently detects the first guideline by the first detection unit. Prioritizing the detection of the first detection means, the first detection means moves into the space under the conveyed object along the first guideline detected by the first detection means and moves to the operating position. Therefore, even if the transported object is roughly placed at a predetermined position, the transport carriage can change from the second guideline to the first guideline and reach the operating position where the operating means acts on the transported object.

  The invention according to claim 3 is the invention according to claim 1, wherein the second guideline for guiding the transport carriage to a predetermined position where the transported object is placed on the floor surface on which the transport carriage travels. A second detecting means for detecting a second guideline provided on the floor surface, and an inlet for detecting the detected object; Detecting means, and the transporting carriage moves to the predetermined position along the second guideline by detecting the second guideline by the second detecting means, and detects the detected object by the entrance detecting means. The detection by the second detection means is switched to the detection by the first detection means, and the second detection means is moved into the space along the first guideline detected by the first detection means and moved to the action position. It is an.

  According to the above configuration, the transport carriage moves along the second guideline detected by the second detection means, reaches the entrance at the predetermined position, and detects the object provided at the entrance at the predetermined position by the entrance detection means. When detected, the detection is switched from the detection of the second detection means to the detection of the first detection means, and it moves into the space under the conveyed object along the first guideline detected by the first detection means and moves to the action position. Therefore, even if the transported object is roughly placed at a predetermined position, the transport carriage can change from the second guideline to the first guideline from the entrance of the predetermined position, and can reach the operating position where the operating means acts on the transported object. .

  The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein the transport carriage cannot detect the first guideline by the first detection means. The first detection means is arranged on the transport carriage so that the action means is stopped at the time and the action means is located at the action position when stopped.

  According to the above configuration, when the transport carriage stops detecting the first guideline by the first detection means, the action means of the transport carriage is located at the action position. Therefore, if the conveyance carriage is stopped when the first guide line cannot be detected by the first detection means, the action means can act on the conveyed product.

  The invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein a wheel is attached to each support leg constituting the transported object, and the transport cart is mounted. In addition, a traction device for the conveyed product is provided as the action means.

  According to the above configuration, the transported object can be transported by pushing and pulling action by attaching a wheel to each support leg, and the function of raising and lowering the transported object as an action means is not required for the transport carriage. A traction device may be provided, and the transport cart can be configured at low cost.

  In the transport facility of the present invention, the first guideline is provided on the back surface of the upper plate of the transported object, and the transport carriage moves along the first guideline by detecting the first guideline provided on the transported object. By arriving at the action position on the conveyed object by the action means, the conveyance carriage can be stopped at the action position accurately even if the conveyed object is roughly placed at a predetermined position. It is possible to eliminate the need to install a positioning guide for presenting the position for placing the pallet at a predetermined position for placing the pallet, and to reduce the burden on the operator.

It is equipment arrangement | positioning drawing of the load conveyance installation in embodiment of this invention. It is a principal part perspective view of the cargo transportation equipment. It is a control block diagram of the conveyance trolley of the cargo transportation equipment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is an equipment layout diagram of a load transport facility according to an embodiment of the present invention.
In FIG. 1, reference numeral 11 denotes a travel path of the transport carriage 12, which connects the first transfer area A and the second transfer area B of the pallet 13, and the first transfer area A and the second transfer area B. Each has a pallet transfer position (an example of a predetermined position) 14 on which the pallet 13 is placed in advance on the extension of the travel path 11.

  As shown in FIG. 2, the pallet 13 is a pallet that also has a retraction space 21 into which the transport carriage 11 is revolved, and also serves as a load receiving table for the reciprocal object 22. A flat plate (an example of an upper plate) 23 to be placed and four (plural) support legs 24 that support the flat plate 23 at four corners.

  Further, as shown in FIG. 2, the transport carriage 12 is supported by a plurality of (for example, three or four) wheels (not shown), and the carriage main body 31 travels along the travel path 11 by rotational driving of these wheels. And a lifter (an example of an action means) 32 disposed on the top surface of the carriage body 31 and capable of moving up and down the pallet 13 and a selection switch for selecting one of “manual”, “OFF”, and “automatic” operation modes. A loading platform 34 having 33 is provided, and the traveling direction (angle) can be changed by turning the wheel. Further, as shown in FIG. 3, a traveling motor 35 and a traveling drive device (for example, a DC chopper) 36 are provided inside the carriage body 31 as driving means for rotating one of the front and rear wheels, for example, the rear wheel. Further, as a driving means for converting the other of the front and rear wheels, for example, the front wheel, a conversion motor (for example, a servo motor) 37 and a conversion drive device (for example, a servo amplifier) 38 are provided, and further a control comprising a computer. A device 39 is provided.

An encoder 35 </ b> A is connected to the rotation shaft of the traveling motor 35, and a potentiometer 37 </ b> A is connected to the conversion motor 37.
Further, when the “manual” operation mode is selected by the selection switch 33, an operation by a manual operation pendant (a remote controller for manual operation) 40 described later becomes possible, and when the “OFF” operation mode is selected, the conveyance is performed. The carriage 12 stops without receiving any command, and executes the following control when the “automatic” operation mode is selected.

  When the "automatic" operation mode is selected by the selection switch 33, the control device 39 counts the pulse signal output from the encoder 35A and detects the travel speed via the travel drive device 36. By driving the traveling motor 35, the traveling and traveling speed of the transport carriage 12 are controlled, and the conversion motor 37 is detected via the conversion driving device 38 while detecting the conversion angle detected by the potentiometer 37A. Is driven to control the turn of the carriage 12 and further the lifter 32 is driven to perform the lifting control of the pallet 13.

  By using the travel control function, the conversion control function, and the lift raising / lowering function of these control devices 39, the transport carriage 12 is placed at the pallet transfer position 14 in the first transfer area A based on a transport command from the outside. The pallet 13 being transferred is transported to the pallet transfer position 14 in the second transfer area B, and conversely, the pallet 13 placed at the pallet transfer position 14 in the second transfer area B is transferred to the first transfer area B. Transport to pallet transfer position 14 in area A. At this time, the pallet 13 is placed in the crawl space 21 of the pallet 13 placed at the pallet transfer position 14 in the transfer area A or B even when the lifter 32 is lowered, and then the lifter 32 is raised and the pallet 13 is scooped. In this state, the pallet 13 is conveyed along the traveling path 11 to the pallet transfer position 14 in the transfer area B or A. When the vehicle arrives at the destination, the lifter 32 is lowered to lower the pallet 13 and escape from the bottom of the pallet 13.

  Further, a manual operation pendant (manual operation remote controller) 40 can be connected to the control device 39, and when the “manual” operation mode is selected by the selection switch 33, the manual operation pendant 40 of the operator is selected. By driving the traveling motor 35 through the traveling drive device 36 based on the operation by the above, the traveling of the transport carriage 12 is executed, and by driving the conversion motor 37 through the conversion driving device 38. The transfer cart 12 is turned, and the lifter 32 is moved up and down.

  Now, the pallet 13 is guided on the back surface of the flat plate 23 facing the hollow space 21 to the lifting position of the pallet 13 by the lifter 32 (an example of the operating position where the operating means acts on the transported object). A first guideline 41 (a magnetic transfer guide tape dedicated to transfer) made of a magnetic tape is attached. In addition, the pallet transfer position 14 of the first transfer area A and the pallet transfer position 14 of the second transfer area B are placed at the center of the floor surface 42 (the center of the travel path 11) on which the transport carriage 12 travels. The second guideline 43 made of magnetic tape is laid between the two.

  The transport carriage 12 is provided with detection means for detecting the first guide line 41 and the second guide line 43. That is, on the loading platform 34 of the transport carriage 12, the first guideline 41 is opposed to the first guideline 41 on the center line in the traveling direction of the transport carriage 12 or on a line parallel to the centerline, at the front and rear positions thereof. A pair of first magnetic sensors (transfer dedicated sensors; an example of first detecting means) 45A and 45B are provided. A pair of second magnetic sensors (an example of second detection means) 47A that detects the second guideline 43 are disposed on the lower surface of the transport carriage 12 so as to face the second guideline 43 on the center line and to the front and rear positions thereof. , 47B. Each of the magnetic sensors 45A, 45B, 47A, 47B includes a plurality of magnetic detection elements in the left-right direction perpendicular to the traveling direction of the transport carriage 12, and is connected to the control device 39.

  When the control device 39 is in the “automatic” operation mode, the center of the magnetic detection element group for detecting the guide lines 41 and 43 is located on the right side of the traveling direction with respect to the magnetic detection element located at the center of the magnetic detection element group. When it is located, it performs control to turn to the left, and when it is to the left of the traveling direction, it performs control to turn to the right, so It is running along 43. Further, when both the first magnetic sensors 45A and 45B and the second magnetic sensors 47A and 47B detect the guide lines 41 and 43, the control device 39 selects the detection signals of the first magnetic sensors 45A and 45B ( Executes conversion control with priority.

  In addition, when the first guide line 41 is detected by the first magnetic sensor 45 </ b> A or 45 </ b> B positioned forward in the traveling direction, the control device 39 stops the transport carriage 12 when the detection signal is interrupted. When the first magnetic sensor 45A or 45B arrives at the interrupted position of the first guideline 41, the first magnetic sensors 45A and 45B are positioned so that the lifter 32 is positioned at a predetermined position where the pallet 13 is lifted by the lifter 32. The arrangement is preset.

  When the control device 39 is traveling along the travel route 11 while detecting the second guideline 43 using the second magnetic sensor 47A or 47B, the detection signal of the second magnetic sensor 47A or 47B is interrupted. Then, the transport carriage 12 is stopped. When the second magnetic sensor 47A or 47B reaches the interrupted position of the second guide line 43, the length of the second guide line 43 and the second magnetic sensor are set so that the transport carriage 12 is positioned at the center of the pallet transfer position 14. The arrangement of 47A and 47B is preset.

  Now, the first magnetic sensor 45A and the second magnetic sensor 47A are arranged on the transport carriage 12 on the first transfer area A side, and the first magnetic sensor 45B and the second magnetic sensor 47B are arranged on the second transfer area B side. If it is assumed that the control device 39 travels to the first transfer area A along the travel route 11 in the “automatic” operation mode, it uses the detection signal of the second magnetic sensor 47A. When entering into the recessed space 21 of the pallet 13 in the first transfer area A, it is converted using the detection signal of the first magnetic sensor 45A, and stops when the detection signal of the first magnetic sensor 45A is interrupted. Conversely, when traveling along the travel route 11 to the second transfer area B, the detection signal of the second magnetic sensor 47B is used to enter the concavity space 21 of the pallet 13 in the second transfer area B. The signal is converted using the detection signal of the first magnetic sensor 45B, and stops when the detection signal of the second magnetic sensor 47B is interrupted.

  The operation of the above configuration will be described. The pallet 13 is roughly placed by the operator at the pallet transfer position 14 in the first transfer area A, and the first transfer area A to the second transfer area with respect to the transport carriage 12 (control device 39). It is assumed that the pallet 13 conveyance command is transmitted to B, and the “automatic” operation mode is selected by the selection switch 33.

  When the pallet 13 is not being conveyed, the conveyance carriage 12 is stopped with the lifter 32 lowered, and when the conveyance command is received, the detection signal of the first magnetic sensor 47A that detects the second guideline 43 is output. Traveling to the first transfer area A along the travel route 11 while detecting the second guideline 43 using the second guideline 43. When the first magnetic sensor 45A faces the first guide line 41 of the pallet 13 and enters the recessed space 21 of the pallet 13 in the first transfer area A, the first guide line 41 is detected using the detection signal of the first magnetic sensor 45A. In other words, the transport carriage 12 travels with the position shifted according to the position of the placed pallet 13 and stops when it is interrupted. At this time, the lifter 32 is located at a predetermined position for lifting the pallet 13.

Next, the lifter 32 is raised, the flat plate 23 is lifted, and the pallet 13 is lifted.
In this state, using the detection signal of the first magnetic sensor 47B that detects the second guideline 43, the second guideline 43 is detected while moving to the second transfer area B side along the travel route 11 and the first guideline 43 is detected. Stops when the detection signal of the magnetic sensor 47B is interrupted. At this time, the transport carriage 12 is stopped at the center of the pallet transfer position 14 in the second transfer area B.

  In this state, the lifter 32 is lowered to lower the pallet 13 to the pallet transfer position 14, and the travel route is detected while detecting the second guideline 43 using the detection signal of the first magnetic sensor 47A that detects the second guideline 43. 11 moves to the first transfer area A side for a certain period of time (the time during which the transport carriage 12 can escape from the retraction space 21), and stops when the transport carriage 12 exits the retraction space 21 of the pallet 13 and waits. To do. And the pallet 13 conveyed to the 2nd transfer area B is carried out by the operator.

  Thus, when traveling on the travel route 11, the vehicle travels while detecting the second guide line 43, and when traveling below the pallet 13, the vehicle travels while detecting the first guide line 41. Therefore, even if the center of the travel route 11 (second guideline 43) and the center (lifting position) of the pallet 13 do not exactly coincide, that is, the pallet 13 is roughly placed at the pallet transfer position 14. In addition, the transport carriage 12 is guided to the center (lifting position) of the pallet 13.

  As described above, according to the present embodiment, the first guide line 41 is provided on the back surface of the flat plate 23 of the pallet 13, and the transport carriage 12 moves along the first guide line 41 provided on the pallet 13. When the pallet 13 is roughly placed at the pallet transfer position 14 by being automatically guided to the lifted position (working position) to the pallet 13 by the lifter 32, the transport carriage 12 is accurately placed at the working position. Therefore, it is not necessary to install a positioning guide for indicating the position where the pallet 13 is placed at the pallet transfer position 14, and the burden on the operator can be reduced. Further, the pallet 13 can be safely transported without dropping by stopping exactly at the operating position and lifting the pallet 13 by the lifter 32.

  Further, according to the present embodiment, the transport carriage 12 moves along the second guideline 43 when traveling on the travel route 11, and when the first guideline 41 is detected, the first magnetic sensor 47 </ b> A, 47 </ b> B detects the first magnetic field. Priority is given to the sensors 45A and 45B, and along the first guideline 41 detected by the first magnetic sensors 45A and 45B, that is, from the second guideline 43 to the first guideline 41, the underside of the pallet 13 By moving into the space 21, it is not necessary to prepare any magnetic sensor switching means, and the transport carriage 12 can smoothly move from the second guideline 43 to the first guideline 41.

  Further, according to the present embodiment, when the first guideline 41 can no longer be detected by the first magnetic sensors 45A and 45B, the transport carriage 12 arrives at the position where the lifter 32 lifts the pallet 13 and stops. It is not necessary to prepare any means for specifying the stop position of the transport carriage 12.

  In this embodiment, the transport carriage 12 is automatically guided by the second guideline 43 to the pallet transfer position 14 in the transfer area A or B, but the pallet in the transfer area A or B Up to the transfer position 14, the “manual” operation mode is selected by the selection switch 33, the operator moves by operating the manual operation pendant 40, and arrives at the pallet transfer position 14 in the transfer area A or B. Thereafter, the “automatic” operation mode may be selected by the selection switch 33 so that only the loading of the pallet 13 is automatically executed.

  In the present embodiment, the wheels are not attached to the support legs 24 of the pallet 13, but the wheels are attached to the support legs 24 and the pallet 13 is pulled instead of being lifted by the lifter 32 when the pallet 13 is transported. You can also At this time, instead of the lifter 32, the transport carriage 12 is provided with a traction device having a function of raising and lowering the traction shaft body, and the pallet 13 has a hole (operation position) in which the shaft body of the traction device is fitted. The carriage 12 is guided by the first guideline 41 to reach the hole position of the pallet 13 by the traction device, and the pallet 13 is conveyed by fitting (hanging) the shaft body into the hole. Thus, by providing a traction device instead of the lifter 32, the lifter 32 that lifts and lowers the transported object as an action means is not necessary on the transport carriage 12, and it is only necessary to have a traction device that hooks and pulls the pallet 13. The transport carriage 12 can be configured at low cost.

  In the present embodiment, when the first guideline 41 is detected by the first magnetic sensors 45A and 45B, the detection of the first magnetic sensors 45A and 45B is prioritized over the detection of the second magnetic sensors 47A and 47B. At the entrance of the transfer position 14 (the approach point of the transfer areas A and B), a detected object made of a light reflector or a magnet, which indicates the entrance, is provided, and an optical sensor for detecting the light reflector on the transport carriage 12 or An entrance detection means comprising a magnetic sensor for detecting a magnet is provided, and the transport carriage 12 stops when the detected object is detected by the entrance detection means, and the first magnetic sensor 45A, 45A, 47B is detected by the detection of the second magnetic sensors 47A, 47B. Switching to the detection of 45B, the first magnetic sensor 45A, 45B along the first guideline 41 to the pallet 13 of the penetration space 21 Inclusive, it may be moved to a predetermined position to lift the pallet 13 by the lifter 32.

  In the present embodiment, the traveling speed of the transport carriage 12 is not switched when the transport carriage 12 is moving along the second guideline 43 and when the transport carriage 12 is moving along the first guideline 41. When moving along the first guideline 41, the traveling speed may be lowered than when moving along the second guideline 43. As a result, when the first guide line 41 having a short distance compared to the second guide line 43 is moved, the turn control can act more quickly and the accuracy of the turn control can be improved.

  In the present embodiment, the guide lines 41 and 43 are formed of a magnetic tape, and magnetic sensors 45A, 45B, 47A and 47B are provided as detection means for detecting the magnetic tape. It may be formed of a reflecting optical tape, and an optical sensor may be provided as detection means for detecting this optical tape.

  In the present embodiment, the transport carriage 12 is a front-wheel steering system that converts the front wheels. However, the present invention is not limited to such a system. You may employ | adopt a system and the speed difference system of a right-and-left wheel.

A 1st transfer area B 2nd transfer area 11 Traveling path 12 Carriage carriage 13 Pallet 14 Pallet transfer position 21 Retraction space 22 Article 23 Flat plate 24 Support leg 32 Lifter 39 Control device 41 First guideline 42 Floor 43 2Guidelines 45A, 45B First magnetic sensor 47A, 47B Second magnetic sensor

Claims (5)

A transported object composed of an upper plate on which an article is placed and a plurality of support legs supporting the upper plate is squeezed into the space between the support legs, and transported using action means acting on the transported object. A load transport facility equipped with a transport cart,
On the back surface of the upper plate facing the space, a first guideline is provided for guiding the transport carriage to an operating position where the operating means acts on the transported object,
The transport carriage is provided with first detection means for detecting a first guideline attached to the back surface of the upper plate,
The transport carriage moves in the space along the first guideline by detecting the first guideline by the first detection means, and moves to the working position. A second guideline is provided on the floor surface on which the transport cart travels to guide the transport cart to a predetermined position where the transported object is placed,
The transport carriage is provided with second detection means for detecting a second guideline provided on the floor surface,
The transport carriage moves to the predetermined position along the second guideline by detecting the second guideline by the second detection unit, and the second detection unit detects the first guideline by the first detection unit. The detection of the first detection means is prioritized over the detection of the means, and the first detection means digs into the space along the first guideline detected by the first detection means and moves to the action position. Cargo handling equipment. A second guideline is provided on the floor surface on which the transport cart travels to guide the transport cart to a predetermined position where the transported object is placed,
An object to be detected indicating the entrance is provided at the entrance of the predetermined position,
The transport carriage is provided with second detection means for detecting a second guideline provided on the floor surface, and entrance detection means for detecting the detected object,
The transport carriage moves to the predetermined position along the second guideline by detecting the second guideline by the second detection means, and when the detected object is detected by the entrance detection means, the second detection 2. The method according to claim 1, wherein the detection is switched from the detection of the means to the detection of the first detection means, enters the space along the first guideline detected by the first detection means, and moves to the action position. Load handling equipment. The transporting carriage stops when the first detecting means cannot detect the first guide line, and when stopped, the first detecting means is placed on the transporting carriage so that the working means is located at the working position. It is arrange | positioned, The load conveyance equipment of any one of Claims 1-3 characterized by the above-mentioned. A wheel is attached to each support leg constituting the transported object,
The load conveying facility according to any one of claims 1 to 4, wherein the conveying cart is provided with a pulling device for the conveyed object as the action means.

Images