JP2014162578A - Method and system for handling conveyed object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and system for handling a conveyed object in which the conveyed object can be carried out from a stock area to a carry-out area by using an operation spare time of a carriage.SOLUTION: A conveyed object 24 is conveyed to a stock area 26 by a carriage 33 and stocked therein, and the conveyed object 24 stocked in the stock area 26 is carried out to a carry-out area 29. A conveyance time required for conveying the conveyed object 24 from the stock area 26 to the carry-out area 29 is calculated. An operation spare time of the carriage 33 is collated with the required conveyance time, and when the required conveyance time can be secured, an operation of the carriage 33 is controlled and the conveyed object 24 is conveyed from the stock area 26 to the carry-out area 29.

Description

  The present invention relates to a handling method and handling system for a transported object used when transporting a transported object made of building materials such as a wall panel and a floor panel at a construction site of a high-rise building, for example.

  Conventionally, a configuration as disclosed in, for example, Patent Document 1 has been proposed as a handling system for this type of conveyed object. In this conventional configuration, the self-propelled carriage for transporting building materials at the building construction site recognizes the instruction contents of the signs installed at each point from the unloading point to the unloading point, and the recognition result It is designed to run on its own. As a result, building materials are automatically conveyed from the unloading point to the unloading point.

JP 11-296227 A

  Nowadays, at the construction site of a high-rise building, a stock area for stocking building materials is provided on the lower floors, etc., and stocked separately according to types such as wall panels and floor panels. And after building materials stocked in a stock area are carried out to a carrying-out area by a trolley based on a carrying-out plan, they are mounted on an elevator and conveyed to a construction position such as a high floor.

  As described above, when a building material is transported using a carriage, it is necessary to efficiently perform the transport based on the plan. However, Patent Document 1 does not disclose any method for efficiently transporting such building materials.

  The present invention has been made paying attention to such problems existing in the prior art. The purpose is to provide a handling method and a handling system for a transported object that can efficiently carry out the transported object to the carry-out area using the idle time of the carriage.

  In order to achieve the above object, in the invention relating to the method of handling the object to be conveyed, in the method of handling the object to be conveyed in which the object is conveyed using the carriage according to the conveyance plan, there is a free time during which the carriage does not operate. When the transport time required for organizing and transporting the object to be transported is calculated, the calculated transport time is compared with the idle time, and the required transport time can be secured during the idle time In addition, the carriage is operated to convey the object to be conveyed to a predetermined position.

  In the invention related to the transported object handling system, in the transported object handling system provided with the carriage for transporting the transported object, the storage unit for storing the transported plan of the transported object and the empty space in the carry-out area A calculation unit that calculates a situation and a required unloading time required for unloading the object to be transferred from the stock area to the unloading area, and a determination unit that determines whether the unloading time is ensured with reference to the transfer plan The control unit includes a control unit that controls the operation of the carriage to transport the object to be transported from the stock area to the unloading area when it is determined that the required unloading time can be secured.

  Therefore, in this handling method and handling system of a to-be-conveyed object, it is conveyed with a cart based on a conveyance plan. In this case, with reference to the transport plan of the transported object, the operating idle time of the carriage is confirmed, and the unloading time required for unloading the transported object is calculated. Then, when it is determined that it is possible to secure the required unloading time, the carriage is operated and the transferred object is unloaded from the stock area to the unloading area. Therefore, it is possible to efficiently carry out the articles to be conveyed stocked in the stock area to the carry-out area by using the free time of the carriage.

  As described above, according to the present invention, it is possible to efficiently carry the object to be carried to the carry-out area by using the idle time of the carriage.

The top view which shows the handling system of the conveyed product of one Embodiment. (A)-(c) is a perspective view which shows in order the conveyance operation of the to-be-conveyed object by a trolley | bogie in the to-be-conveyed object handling system of FIG. The side view which expands and shows the trolley | bogie of FIG. Sectional drawing in the 4-4 line | wire of FIG. The partially broken front view which expands and shows the trolley | bogie of FIG. The expanded sectional view in the 6-6 line of FIG. The expanded sectional view in the 7-7 line of FIG. The expanded sectional view in the 8-8 line of FIG. The block diagram which shows the circuit structure of the handling system of a to-be-conveyed object. The figure which shows the display screen of the display operation panel at the time of the driving | operation start of the to-be-conveyed object handling system. The figure which shows the display screen of the display operation panel at the time of selection of the arrangement | working operation mode of the handling system of a to-be-conveyed object. The flowchart which shows the handling operation of the conveyed product in the handled material handling system. The top view which shows the state in the case of stocking a horizontally long to-be-conveyed object in a stock area in the handling system of the to-be-conveyed object of FIG. The top view which shows the state in the case of stocking horizontally and vertically long to-be-conveyed objects in a stock area in the handled object handling system.

  Below, one embodiment of the handling method and handling system of a conveyed product for conveying the conveyed product consisting of building materials, such as a wall panel and a floor panel, is described according to drawings. The transport system as the handling system is in a packaged state, and includes a plurality of stacked objects to be transported such as wall panels as a group, and the group is defined as a transport unit and a predetermined transport plan. It is transported to a construction site such as a high floor of a high-rise building in accordance with a transport plan.

  As shown in FIG. 1, this handling system for transported objects is installed on a floor 21 of a lower floor such as the first floor or an underground floor at a construction site of a high-rise building. One carry-in area 22 is provided on one side of the floor surface 21. In the carry-in area 22, a plurality of carry-in stations 221 are arranged in one direction at predetermined intervals. As shown in FIG. 2, a pair of wheels 23 are juxtaposed at each carry-in station 221 at an interval.

  A temporary storage area (not shown) is provided in the vicinity of the carry-in area 22. And the to-be-conveyed object 24 which consists of a building material of a some lamination | stacking state, such as a wall panel and a floor panel, and a packing state is temporarily set | placed on this temporary setting area with a truck. And the to-be-conveyed object 24 is conveyed toward the stock area 26 and the carrying-out area 29 mentioned later, without being unpacked.

  As shown in FIGS. 2 and 3, the object to be conveyed 24 is a wheel of a predetermined loading station 221 in the loading area 22 by a self-propelled carriage (hereinafter simply referred to as a carriage) 33 from the temporary placement area according to the conveyance plan. It is supported on the tree 23 in a state of being lifted from the floor surface 21. At this time, as shown in FIGS. 2A, 3, and 4, the wireless tag 25 is placed on the upper surface of the transported object 24 of each carry-in station 221 by an operator. The wireless tag 25 stores data indicating attributes such as the type, size, manufacturer, etc. of the transported object 24, and the data is transmitted constantly or at regular intervals.

  On the other hand, as shown in FIG. 9, the cart 33 has a control device 46 to be described later, and the traveling of the cart 33 is controlled according to a conveyance plan stored in a program storage unit 92 to be described later of the control device 46. This transport plan includes data such as the type and amount of the transported object 24 to be transported, or the transport destination, and the control device 46 of the carriage 33 transfers the data from the wireless tag 25 to the transport target of the transport plan. It collates with the data of the object 24. Further, the data storage unit 93 described later of the carriage 33 stores various history information related to the conveyance work such as the position of the conveyance destination of the object to be conveyed conveyed by the carriage 33.

  As shown in FIG. 1, a stock area 26 is provided on the floor surface 21 in the vicinity of the carry-in area 22. In the stock area 26, a plurality of stock lines 27 are arranged in parallel. In each stock line 27, a plurality (five in the embodiment) of stock stations 271 are arranged in one direction at predetermined intervals. Each stock station 271 is provided with a pair of wheels 23 in parallel with the carry-in station 221.

  On the floor surface 21 of the carry-in station 221 and each stock station 271, a mark 28 made of a magnetic material that indicates the position of the stock station 271 is affixed.

  As shown in FIG. 1, a carry-out area 29 is provided on the floor surface 21 on the side of the stock area 26. A plurality of carry-out lines 30 are arranged in the carry-out area 29. In each carry-out line 30, a plurality (five in the embodiment) carry-out stations 301 as predetermined positions are arranged in one direction at regular intervals. Each carry-out station 301 is provided with a pair of wheels 23 in parallel as in the carry-in station 221 and the stock station 271. On the floor surface 21 of each carry-out station 301, a mark 31 made of a magnetic material that indicates the position of the carry-out station 301 is affixed.

  And the said conveyance plan consists of the carrying-in plan for carrying in the to-be-conveyed object 24 in the stock area 26, and the carrying-out plan for carrying out the to-be-conveyed object 24 of the stock area 26 to a carrying-out area.

In the vicinity of the stock area 26, an elevator 32 for transporting the transported object 24 to the construction floor is installed.
As shown in FIG. 1, on the floor surface 21 in the vicinity of the carry-in area 22, a standby station 34 is provided for waiting a carriage 33 for transporting the transported object 24. On the floor surface 21, a moving path of the carriage 33 is configured between the standby station 34, each carry-in station 221 in the carry-in area 22, each stock station 271 in the stock area 26, and each carry-out station 301 in the carry-out area 29. A guide line 35 made of a magnetic material is formed. On the floor surface 21 at each branch portion of the guide line 35, a mark 36 made of a magnetic material that indicates the branch portion is attached.

  Then, the article 24 to be carried into the carry-in station 221 in the carry-in area 22 is carried to the stock area 26 by the carriage 33 based on the carry-in plan, and is stocked in the stock station 271 of the predetermined stock line 27. In this case, the types of the objects to be conveyed 24 are sorted for each stock line 27, and one type of objects to be conveyed 24 is stocked on one stock line 27. The article 24 stocked in the stock station 271 is unloaded to the unloading area 29 by the carriage 33 based on the unloading plan, and temporarily placed in the unloading station 301 of the vacant unloading line 30, It waits for delivery to the elevator 32.

  As shown in FIGS. 2 (a) to 2 (c), in carrying-in and carrying-out, the carriage 33 is automatically traveled to a required position according to the guide line 35, and the object to be conveyed 24 is automatically loaded and unloaded. In other words, the carriage 33 confirms the position of the station and the branch position of the line according to the marks 31 and 36, and at that position, the traveling direction is switched forward / backward and the steering operation is autonomous in order to change or unload the traveling direction. Automatically. Thereafter, the object 24 to be conveyed at the carry-out station 301 is loaded from the carry-out area 29 into the elevator 32 by a carriage operated by an operator and delivered to the construction floor.

Next, the configuration of the carriage 33 will be described in detail.
As shown in FIGS. 2A to 2C and FIGS. 3 to 5, the carriage 33 constitutes a plane long rectangular frame-shaped frame, and the upper surface is used as a placement surface for the object 24 to be conveyed. A moving table 41 is provided. At the four corners of the lower surface of the moving table 41, auxiliary wheels 43 are attached as four wheels for enabling the moving table 41 to move on the floor surface 21. These auxiliary wheels 43 are constituted by casters capable of freely changing the traveling direction over 360 degrees. Then, the transported object 24 is placed on the front surface of the moving table 41.

  As shown in FIGS. 3 to 5, a support frame 45 is attached to the rear surface of the upper surface of the movable table 41. A control device 46 for controlling the operation of the entire carriage 33 is supported on the support frame 45 in a state of being accommodated in a cover 47. A touch panel type display operation panel 48 is provided on the upper surface of the cover 47. A battery 49 for supplying electric power to the control device 46, a linear motor 57, a moving motor 63, and the like is mounted on the moving table 41 in the support frame 45. An operation handle 50 for manipulating the movement of the moving table 41 is erected at the rear end of the moving table 41.

  As shown in FIGS. 3 to 5, a pair of rails 51 are fixed to both side surfaces of the moving table 41 in a state of being extended in the front-rear direction. On both rails 51, a pair of actuating bodies 52 having a substantially inverted L shape in front are supported via a plurality of guide rollers 53. A pair of arms 54 are fixed to the lower end edges of the outer side surfaces of both operating bodies 52 so as to extend forward. A connecting bar 55 is installed between the front end portions of both arms 54. An inclined guide plate 56 is attached to the front portion of the connection bar 55 to guide the arms 54 to enter the lower position of the transported object 24 supported on the pair of wheels 23. Yes.

  As shown in FIGS. 3 to 5, a pair of linear motors 57 are supported on both sides inside the movable table 41 so as to extend in the front-rear direction. A slider 571 of each linear motor 57 is connected to each operating body 52. The linear motor 57 moves the operating body 52 in the front-rear direction so that the arms 54 protrude forward from the front end of the moving table 41 and the retracted positions positioned on both sides of the moving table 41. Moved between.

  As shown in FIGS. 3 to 5, a pair of lifting devices 58 are mounted on the outer surfaces of the front end portions of the arms 54. Then, as shown in FIG. 2A, a moving table 41 with respect to an object 24 supported on a pair of wheels 23 in the carry-in station 221 in the carry-in area 22 and the stock station 271 in the stock area 26. Are arranged opposite to each other. In this state, the arms 54 are moved from the retracted positions on both sides of the movable table 41 to the advanced positions protruding forward of the movable table 41, so that each of the lifting devices 58 is covered as shown in FIG. It enters below the conveyed product 24. Thereafter, as shown by a chain line in FIG. 3, each lifting device 58 is lifted to lift the article 24 to be transported from the wheel 23 on both sides of the lower surface, and from the mounting surface on the upper surface of the movable table 41. It is placed at a high position. In this state, as shown in FIG. 2C, after the movable table 41 is advanced to a position below the conveyed object 24, the lifting device 58 is lowered to move the conveyed object 24 to the movable table 41. Is transferred onto the mounting surface.

  As shown in FIG. 3 to FIG. 5, a pair of front and rear moving mechanisms 59 are pivotably disposed via a support shaft 60 at the center in the left-right direction on the lower surface of the moving table 41. Each moving mechanism 59 includes a box-shaped case 61, a pair of moving wheels 62 rotatably supported on both sides of the case 61, and a pair of forward and reverse rotations for separately driving the wheels 62. And a possible moving motor 63. The pair of wheels 62 are rotated in the same direction at the same rotational speed by the respective motors 63 for movement, so that the movable table 41 is moved straight. Further, when the pair of wheels 62 are rotated at different rotational speeds by the respective moving motors 63, the moving direction of the moving table 41 is changed according to the rotation difference. This moving mechanism 59 constitutes a direction changing mechanism for changing the moving direction of the moving table 41, in other words, a steering mechanism. Further, the moving table 41 is moved backward by rotating the moving motor 63 in the reverse direction.

  As shown in FIG. 2A and FIG. 4, on the front surface of the moving table 41, the radio tag 25 on the object to be transported 24 at the carry-in station 221 in the carry-in area 22 and the stock station 271 in the stock area 26 A tag information receiver 64 for receiving wireless data is provided. On the front surface of the moving table 41, a transported object detection sensor that optically detects the presence or absence of the transported object 24 at the loading station 221 of the loading area 22, the stock station 271 of the stock area 26, and the unloading station 301 of the unloading area 29. 65 is provided. When the wireless tag 25 on the transported object 24 of the predetermined stations 221, 271 and 301 transmits data indicating the transported object 24 of a type different from the transport plan, the control device 46 performs error processing. Done. In this error processing, a notification operation by a buzzer is performed, and the conveyance operation of the carriage 33 is interrupted. In addition, when the transported object 24 is not detected by the transported object detection sensor 65 at a station where the transported object 24 should be present, the same error processing is performed by the control device 46.

  As shown in FIGS. 3 and 5, a pair of line reading sensors 66 including magnetic sensors for reading the guide line 35 on the floor surface 21 are provided on both front and rear surfaces of the case 61 of each moving mechanism 59. On both front and rear surfaces of the case 61 of each moving mechanism 59, a pair of mark reading sensors 67 comprising magnetic sensors for reading the marks 28 and 31 at the stock station 271 and the unloading station 301 and reading the mark 36 at the branching portion of the guide line 35. Is provided.

Next, the configuration of the lifting device 58 will be described in detail.
As shown in FIGS. 3 to 5, a substantially box-shaped support housing 71 having an open upper surface is attached to the outer surface of the tip of both arms 54 of the carriage 33. As shown in FIGS. 6 to 8, a lifting platform 72 is supported at a front portion in the support housing 71 through a pair of left and right four-joint link mechanisms 73 so as to be movable up and down. Each four-bar linkage mechanism 73 has a first link 75 rotatably supported on the inner surface of the side wall of the support housing 71 by a support shaft 74 at the base end, and a position spaced from the first link 75. The second link 77 is rotatably supported at the end by a support pin 76 on the inner surface of the side wall of the support housing 71. Further, a connecting link 80 is connected between the distal ends of the first link 75 and the second link 77 via connecting shafts 78 and 79 so as to be relatively rotatable. The support housing 71 constitutes the remaining link of the four-bar link. The lifting platform 72 is installed and supported between the connecting links 80 of both the four-bar linkage mechanisms 73.

  As shown in FIGS. 6 and 8, in the center portion of the support housing 71, a pair of cam members 81 are integrally coupled by a plurality of coupling pins 82, and are supported by a plurality of support rollers 83 in the front-rear direction. It is supported so as to be movable. An inclined cam surface 811 that gradually increases from the front end to the rear end is formed on the upper surface of each cam member 81. The cam surface 811 of the cam member 81 is engaged with the outer peripheral surface of the connecting shaft 79 serving as a cam follower function between the second link 77 and the connecting link 80 from below. The cam surface 811 is curved at least at the upper part as a whole so that the inclination thereof decreases as it moves upward.

  As shown in FIGS. 6 and 8, an elevating cylinder 84 is disposed at the rear portion in the support housing 71. A piston rod 841 of the lifting cylinder 84 is connected to the cam member 81 via a connecting pin 85. In the state in which the lifting cylinder 84 is immersed, the cam member 81 is disposed at the rear position and the lifting platform 72 is disposed at the lower position in the support housing 71 as shown by the solid line in FIG. Yes. On the other hand, as shown in FIG. 2 (b), when the lifting / lowering cylinder 84 is moved forward while the lifting / lowering device 58 is entered below the transported object 24, a chain line in FIG. As shown, the cam member 81 is moved to the forward position, and the first and second links 75 and 77 of the four-bar linkage mechanism 73 are erected upward via the connecting shaft 79 by the cam action of the cam surface 811. . Thereby, the raising / lowering stand 72 is moved to an upper position, and the to-be-conveyed object 24 is lifted.

  As shown in FIGS. 6 and 7, a pair of side-shaped substantially inverted U-shaped support members 86 are attached to the front and rear ends of the support housing 71. A pair of support wheels 87 are supported on the lower surface of each support member 86 via a suspension mechanism 88. Each wheel 87 is configured to be able to protrude downward from the inside of the support housing 71 through a through-hole 89 formed in the bottom wall portion of the support housing 71, and rolls on the floor surface 21. . In a normal state, the suspension mechanism 88 is extended, and the wheel 87 is disposed so as to protrude downward from the lower surface of the support housing 71 through the through-hole 89, and the lower surface of the support housing 71 is separated from the floor surface 21. The vehicle is held so as to be able to run in the state. On the other hand, when the transported object 24 is lifted by the lifting device 58, the suspension mechanism 88 is compressed by the weight of the transported object 24, and the wheel 87 is moved upward relative to the support housing 71. As a result, the lower surface of the support housing 71 is brought into contact with the floor surface 21 and the load of the conveyed object 24 is received.

Next, an operation in the case where the transported object 24 is transported by the cart 33 having the above-described configuration will be described.
In this carriage 33, at normal times, as shown in FIG. 2A, the arms 54 on both sides of the movable table 41 are moved to the retracted position, and each lifting device 58 is arranged on the side of the movable table 41. Yes. 3 and 6, in each lifting device 58, the lifting platform 72 is lowered to a position lower than the placement surface on the upper surface of the movable platform 41. In this state, when the transport work of the transported object 24 is started, the wheel 62 is rotated by the moving motor 63 of the moving mechanism 59, and the direction is changed or moved back as necessary to move. The platform 41 is moved along the guide line 35 on the floor surface 21 to a stock station 271 or the like in a predetermined stock area 26. In this case, when the line reading sensor 66 reads the guide line 35, the moving direction of the moving table 41 is determined, and when the mark reading sensor 67 reads the marks 28 and 36, the moving table 41 is turned. . And as shown to Fig.2 (a), the movement base 41 is arrange | positioned facing the center part of the width direction of the to-be-conveyed object 24 in the position between a pair of wheels 23 which support the to-be-conveyed object 24, The presence of the transported object 24 is confirmed by the transported object detection sensor 65.

  Subsequently, when both arms 54 are moved from the retracted position to the advanced position by both linear motors 57, each lifting device 58 enters below the object 24 as shown in FIG. 2B. In this state, when the elevating cylinder 84 is protruded in each elevating device 58, the first and second of the four-joint link mechanism 73 are caused by the cam action of the cam member 81 as shown by the chain line in FIGS. The second links 75 and 77 are erected, and the lifting platform 72 is raised to a position higher than the placement surface on the upper surface of the movable platform 41 via the four-bar linkage mechanism 73. As a result, the object to be conveyed 24 is lifted from above the wheel bridge 23 on both sides of the lower surface thereof, and is placed at a position higher than the placement surface of the upper surface of the movable table 41. Since the cam surface 811 is curved on the upper side so that the inclination thereof decreases as it moves upward, the first and second links 75 and 77 are smoothly raised and rotated from the lying state to the standing state. .

  Thereafter, the wheel 62 is rotated by the moving motor 63 of the moving mechanism 59, and the moving table 41 is moved forward as shown in FIG. In this state, when the lifting / lowering cylinder 84 is immersed in each lifting / lowering device 58, the first and second links 75 of the four-joint link mechanism 73 are caused by the cam action of the cam member 81 as shown by the solid line in FIG. , 77 is allowed to fall, and the lifting platform 72 is lowered to a position lower than the placement surface on the upper surface of the movable platform 41 due to the load of the conveyed object 24 or the like. As a result, as shown by a chain line in the center of FIG. 3, the transported object 24 is placed on the placement surface on the upper surface of the moving table 41 and transferred to the placement surface. Then, the wheel 62 is rotated by the moving motor 63 of the moving mechanism 59, the moving table 41 is moved forward or backward, and the object 24 to be transported placed on the moving table 41 is unloaded at a predetermined unloading area 29. It is conveyed to 301 and the elevator 32.

Next, the structure regarding the electric equipment of the to-be-conveyed object handling system comprised as mentioned above is demonstrated.
As shown in FIG. 9, the control device 46 mounted on the carriage 33 includes a control unit 91, a program storage unit 92, a data storage unit 93, and a communication unit 94. The control unit 91 controls the operation of the entire handling system according to the program stored in the program storage unit 92. The communication unit 94 inputs various data such as a program for executing a transfer plan including a carry-in plan and a carry-out plan from the outside via a radio wave, and the control unit 91 stores the data in a program storage unit 92 or a data storage unit. Store in the unit 93. Further, when the control unit 91 inputs various data including the carry-in plan and the carry-out plan of the transported object 24 from the display operation panel 48 operated by the operator, the control unit 91 stores the data in the program storage unit 92 and the data storage unit 93. Remember me. The control unit 91 constitutes a calculation unit and a determination unit.

  In this case, the data of the carry-in plan has data representing the type, amount, etc., of the object 24 to be carried into the carry-in station 221 in the carry-in area 22. Further, the carry-in plan data includes data indicating the destination of the transported object 24 of the transporting station 221, that is, the stock station 271 of the stock area 26 to which the transported object 24 is transported. Further, the unloading plan data includes data indicating the order, time, and the like of unloading the articles 24 stocked in each stock station 271 in the stock area 26 to the unloading station 301 in the unloading area 29.

  The control unit 91 causes the display / operation panel 48 to display a screen for instructing an input operation and a screen indicating an operation state during operation of the handling system. The control unit 91 inputs read data and detection data from the tag information receiver 64, the conveyed object detection sensor 65, the line reading sensor 66, and the mark reading sensor 67. Based on the data of the carry-in plan and the carry-out plan of the transported object 24 and the read data and detection data from the tag information receiver 64 and each of the sensors 65 to 67, the control unit 91 performs the operation of the carriage 33 according to the stored program. The operations of the moving motor 63, the linear motor 57, and the lifting cylinder 84 are controlled.

  When the handling system is in operation, the control unit 91 loads the transported object 24 stocked in the stock station 271 of the stock area 26 in the empty time of the carriage 33 outside the transport plan composed of the transport plan and the transport plan. The calculating part which calculates the required unloading time required for unloading to the unloading station 301 is configured. The control unit 91 constitutes a determination unit that determines whether or not the required unloading time can be ensured by referring to the data of the loading plan and the unloading plan of the transported object 24 stored in the data storage unit 93. . When the controller 91 determines that the required carry-out time can be secured in the determination of the determination unit, the controller 91 controls the operations of the motors 63 and 57 of the carriage 33 and the cylinder 84 to convey the object 24 to be conveyed one time. Each unit is conveyed from the stock station 271 in the stock area 26 to the unloading station 301 in the unloading area 29.

  The control unit 91 transmits data such as an operation state to a computer disposed in a management center (not shown) via the communication unit 94 and the above-described transported object 24 via the communication unit 94 from the computer. It is possible to receive data such as a carry-in plan and a carry-out plan and perform storage processing and plan operation processing.

Next, the effect | action which carries out the conveyance process of the to-be-conveyed object 24 by the handling system of the to-be-conveyed object comprised as mentioned above is demonstrated.
In the operation of the transported object handling system, the operations of the steps shown in FIG. 12 (hereinafter simply referred to as S) are sequentially executed in accordance with the program stored in the program storage unit 92 under the control of the control unit 91.

  When the planned operation key and the organized operation key on the display / operation panel 48 shown in FIG. 10 are displayed, the planned operation mode and the organized operation mode are started. In S <b> 1, the data of the carry-in or carry-out plan of the transported object 24 is acquired from the outside via the communication unit 94, and the data of the plan is stored in the data storage unit 93. Note that the carry-in and carry-out plans may be input by the operator from the display operation panel 48 of the control device 46 as necessary. Further, during the operation of the system, the type and amount of the object to be conveyed 24 carried into the carry-in station 221 in the carry-in area 22 are stored in the data storage unit 93 and recognized by the control device 46.

  In the next S2, the transportation plan is executed according to the program. For this reason, the transported object 24 carried into the carry-in station 221 in the carry-in area 22 is transferred to the stock station 271 determined in the stock area 26 by the carriage 33 based on the carry-in plan data stored in the data storage unit 93. It is conveyed and stocked separately for each type. In this case, information transmitted from the wireless tag 25 on the non-conveyed object is received by the tag information receiver 64 and collated by the control unit 91. Then, according to the identification result, the type of the transported object 24 and the stock station 271 to be stocked are confirmed. Furthermore, in this case, as is apparent from the display on the display / operation panel 48 shown in FIG. 11, one type of transported object 24 is stocked in one stock line 27, and different types of materials are not mixed. . Further, according to the progress of the construction, the necessary types and amounts of the objects to be transported 24 in the stock area 26 are transported to the transporting station 301 determined in the transporting area 29 and temporarily retained. Then, by the carriage 33 that is manually operated by the operator following the pressing of the manual operation key shown in FIG. 10, the object to be conveyed 24 of the carry-out station 301 is conveyed into the elevator 32 and sent to a construction position such as a high floor. It is.

  In the planned operation according to the transportation plan, the operator must place the wireless tag 25 on the object 24 to be carried into the carry-in station 221 in the carry-in area 22 and carry the article 24 to the elevator 32. And other operations are performed automatically.

  Subsequently, in S3, the program information in the program storage unit 92 is referred to by the control unit 91, and, for example, a free time outside the transportation plan, that is, a carriage outside the transportation plan, such as a lunch break, a short break, or nighttime. It is determined whether there are 33 non-working hours.

  In S <b> 4, the control unit 91 refers to the history information in the data storage unit 93 to determine whether or not the unloading station 301 in the unloading area 29 has an empty space. In this determination, if the carry-out station 301 has an empty space, the sorting operation is started. Then, the process proceeds to the next S 5, and among the transported objects 24 stocked in the stock station 271 of the stock area 26, the transported object 24 at the head of the traveling order of the transport plan is transferred to the transport station 301 of the transport area 29. On the other hand, the unloading time required for unloading is calculated. The calculation data is stored in the data storage unit 93.

In S <b> 6, the idle time and the required carry-out time stored in the data storage unit 93 are collated.
In subsequent S7, it is determined whether or not the required carry-out time can be secured within the idle time.

  In S <b> 8, the carriage 33 is operated, and the article 24 stocked in the stock station 271 in the stock area 26 is transported to an unloading station 301 in the unloading area 29. When the carry-out work to the carry-out station 301 is completed, the program returns to S2 and the above routine is repeated. Note that if the determination at S3 and S4 is negative, the program returns to S2.

When the operator performs an operation to end the operation of the transfer system, the program ends after the determination in S9.
As described above, it is possible to efficiently carry out the transported objects 24 stocked in the stock area 26 to the carry-out area 29 in order in order to make use of the idle time of the carriage 33. Note that the wireless tag 25 placed on the transported object 24 is collected by the operator before the transported object 24 is transferred to the elevator 32.

During the operation of the transport system, a screen showing the driving situation as shown in FIG. 11 is displayed on the display operation panel 48 on the carriage 33, and the position of the transported object 24 is displayed in different colors.
The transport processing operation of the transported object 24 has been described in the case of transporting the transported object 24 having a size that can be arranged in each of the carry-in station 221, the stock station 271 and the carry-out station 301. When the transported object 24 is transported, it is handled as follows.

  As shown in FIG. 13, when a horizontally long transported object 24 is transported and stocked to a stock station 271 in the stock area 26, for example, the transported object 24 of three stock lines 27 adjacent to each other by a carriage 33 is stored. It is conveyed along the central stock line 27. The transported object 24 is arranged in a state of straddling the three stock stations 271 on the three stock lines 27. Further, as shown in FIG. 14, when the transported object 24 having a large horizontal dimension and a large vertical dimension is transported to the stock station 271 of the stock area 26 and stocked, for example, The transported object 24 is transported along the central stock line 27 among the three stock lines 27 that are adjacent and extend in parallel by the carriage 33. And the to-be-conveyed object 24 is arrange | positioned in the state straddling the six stock stations 271 adjacent to the horizontal direction and the vertical direction.

Therefore, according to this embodiment, the following effects can be obtained.
(1) In the above-described embodiment, the required transport time required for organizing and transporting the transported object 24 is calculated, and the required transport time can be ensured by comparing the required transport time with the operation free time of the carriage 33. At times, the transported object 24 is arranged and transported. Therefore, it is possible to prepare for the next work by arranging and transporting the transported object 24 to a required position by using the idle time of the carriage 33. Therefore, the entire transport operation can be performed efficiently.

(2) In the embodiment, since the group of objects to be transported 24 is handled as one transport unit, the transport work can be performed efficiently.
(3) In the said embodiment, the said conveyance plan follows the procedure which carries a to-be-conveyed object into the stock area 26 for stock, and carries out the to-be-conveyed object 24 stocked in the stock area 26 to the unloading area 29. It is like that. For this reason, the work which conveys the to-be-conveyed object 24 from the carrying-out area 29 to a construction position can be performed ahead of the progress stage of construction, and construction can be advanced smoothly.

  (4) The organized transport confirms the empty state of the carry-out area 29 and transports the articles 24 stocked in the stock area 26 to the empty station 301 in the carry-out area 29, so that the carry-out area 29 becomes empty. Can be avoided. For this reason, it is not necessary to wait for arrival of the article 24 to be carried out to the carry-out area 29, and the transfer work to the construction position can be performed smoothly without causing a loss time.

  (5) In this embodiment, the handling system requires a storage unit 93 that stores a carry-in plan and a carry-out plan of the object to be transported 24, and necessary items to transport the object to be transported 24 from the stock area 26 to the carry-out area 29. And a control unit 91 as a calculation unit for calculating the carry-out time. Further, the system refers to the carry-in plan and the carry-out plan, and determines that the control unit 91 as a determination unit for determining whether or not the required carry-out time is secured, and the control unit 91 determines that the required carry-out time can be secured. In some cases, a control unit 91 is provided that controls the operation of the carriage 33 to convey the object to be conveyed 24 from the stock area 26 to the carry-out area 29. Therefore, the to-be-conveyed object 24 can be efficiently carried out using the calculated required carry-out time.

(Example of change)
In addition, this embodiment can also be changed and embodied as follows.
-The wireless tag 25 on the transported object 24 and the tag information receiver 64 on the carriage 33 are omitted. Then, based on the information about the transported object 24 such as the type and amount of the transported object 24 taken into the transport plan or the destination, the transported object 24 is transported to the stock station 271 in the stock area 26 and stocked. Or to be transported to the carry-out area 29. That is, by storing the transport history of the transported object 24 in addition to the transport plan and using them, the transported object 24 can be used without using a wireless tag 25 for identification. Can be carried out without error.

  A control unit 91, a program storage unit 92, and a data storage unit 93 are provided in a computer provided in the management center, and the construction site is based on a radio command transmitted from the control unit 91 of the management center via the communication unit 94. The cart 33 is configured to be operated. In this way, the configuration of the carriage 33 is simplified, and the handling system for the object to be conveyed can be unmanned. In this case, the management center may be configured to control and control the handling system of the objects to be conveyed at a plurality of construction sites. This makes it possible to efficiently deliver construction materials without waste.

  In the embodiment described above, the transported object 24 is unloaded from the stock area 26 to the unloading area 29 using the free time of the carriage 33. On the other hand, the transported object 24 is carried from the carry-in area 22 to the stock station 271 as a vacant predetermined position in the stock area 26 by using the idle time.

-It is configured so that the information on the transportation plan is transmitted from the wireless tag 25, and the transportation plan is configured according to the information transmitted from the wireless tag 25.
・ Carry out the transportation plan according to the judgment of the operator.

-To embody the method and apparatus of the above-described embodiment at a place other than the construction site, such as cargo handling work at a port.
In the above-described embodiment, one type of transported object 24 is not mixed in one line 27 of the stock area 26, but is handled so as to be mixed and stocked.

A mechanism other than a four-bar link, such as a screw-type jack mechanism, is used as the mechanism for raising and lowering the lifting platform 72 of the carriage 33.
The technical idea grasped from the embodiment will be described below.

  (A) A jack that includes a four-bar link that supports the elevator and a cam that engages with a part of the four-bar link, and is configured such that the four-bar link is operated by the action of the cam to raise and lower the elevator. .

  If comprised in this way, while the highly accurate screw | thread for raising / lowering a raising / lowering stand will become unnecessary, a big raising / lowering torque can be obtained with a small force using a cam effect | action. Further, since the lifting platform can be lifted and lowered simply by moving the cam linearly in one direction, the time required for lifting and lowering can be shortened as compared with the case where the screws are rotated and lifted.

(B) The jack according to (A), wherein the cam is engaged with a shaft of a four-bar link from below.
Therefore, the four-bar link can be appropriately raised and lowered from the lower side.

  (C) The jack according to (A) or (B), wherein an actuator such as a cylinder for supporting the four-bar link on a frame and reciprocating a cam within a predetermined range is supported on the frame.

  (D) A mounting surface is provided at the upper surface position of the frame, and wheels that roll on the floor surface are provided on the frame, and the lifting platform is moved above and below the mounting surface by the operation of the four-bar link. The jack according to item (C), which is moved up and down between positions.

  If comprised in this way, while the articles | goods lifted with the raising / lowering stand can be transferred to the mounting surface of a flame | frame, the transferred articles | goods can be conveyed.

  21 ... Floor surface, 22 ... Carry-in area, 221 ... Carry-in position, 24 ... Object to be transported, 26 ... Stock area, 271 ... Stock station, 29 ... Carry-out area, 301 ... Carry-out station, 33 ... Carriage, 35 ... Guidance line, DESCRIPTION OF SYMBOLS 41 ... Moving stand, 46 ... Control apparatus, 48 ... Display operation panel, 54 ... Arm, 57 ... Linear motor, 58 ... Lifting device, 59 ... Moving mechanism, 62 ... Wheel, 63 ... Motor for movement, 71 ... Supporting housing , 72 ... Elevating platform, 73 ... Four-bar linkage mechanism, 81 ... Cam member, 84 ... Elevating cylinder, 91 ... Control unit constituting the calculation unit and determination unit, 92 ... Program storage unit, 93 ... Data storage unit.

Claims (6)

In the handling method of the transported object that transports the transported object using the carriage according to the transport plan,
When the idle time when the carriage does not operate occurs, the transport time required for organizing and transporting the object to be transported is calculated, the calculated transport time is compared with the idle time, and the empty time is When the transport time required can be ensured, the transported object handling method of operating the carriage and transporting the transported object to a predetermined position. The handling method of the to-be-conveyed object of Claim 1 which handles the group of to-be-conveyed object laminated | stacked in multiple sheets as one conveyance unit. The said conveyance plan is a procedure which carries a to-be-conveyed object into the stock area for stock, and carries out the to-be-conveyed object stocked to the stock area to a carrying-out area. Handling method. 4. The method of handling transported objects according to claim 3, wherein the organized transport is performed by confirming a vacant state of the carry-out area and transporting the transported articles stocked in the stock area to a vacant position in the carry-out area. In the handling system of the transported object provided with the carriage for transporting the transported object according to the transport plan,
A storage unit for storing a conveyance plan of the object to be conveyed;
A calculation unit for calculating a vacant state of the unloading area where the transferred object is unloaded and a required unloading time required to unload the transferred object to the unloading area;
A discriminator for discriminating whether or not the required carry-out time is secured by comparing the empty time during which the carriage does not operate and the carry-out time required;
A transported object handling system comprising: a control unit that controls the operation of the carriage and transports the transported object to an empty position in the unloading area when the determining unit determines that the required transport time can be secured. In the handling system of the transported object provided with a carriage for stocking the transported object carried into the carry-in position to the stock area and carrying the stocked transported object to the carry-out area,
A storage unit for storing a conveyance plan of the object to be conveyed;
A calculation unit that calculates the empty state of the unloading area and the unloading time required to unload the transferred object from the stock area to the unloading area;
A discriminating unit for discriminating whether or not the required carry-out time is secured with reference to the transport plan;
A transported object handling system comprising: a control unit that controls the operation of the carriage and transports the transported object from the stock area to the unloading area when the determining unit determines that the required unloading time can be secured.