JP2016020260A - Carrier - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrier that can transfer baggage with various sizes by a simple structure.SOLUTION: A carrier 100 comprises a travelling carriage 101 and a transferring device 110, and carries unmannedly baggage. The transferring device 110 comprises: a base 111; a slide fork 120 having a top plate 123; an attachment 140 that is arranged below the top plate 123 and engaged with the top plate 123 so as to be detachably attached to the top plate 123; a lifting device 150 that lifts the top plate 123 onto the base 111; and a controller 115 that makes the lifting device 150 to lift down the top plate 123 to a predetermined heigh position and to move the top plate 123 in a first direction so that the attachment is attached to the top plate 123 and the top plate 123 attached with the attachment is advanced in the first direction.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a transport vehicle including a transfer device that transfers a load.

  2. Description of the Related Art Conventionally, there is a transport vehicle that transports luggage in a warehouse, a clean room, a factory, a hospital, a library, or the outdoors, and includes a transfer device that transfers (transfers and removes) the luggage.

  In addition, the size of luggage to be transported and stored in the above warehouse may not be constant. In this case, for example, a rack that accommodates luggage is required to accommodate a plurality of luggage of different sizes. .

  Patent Document 1 discloses that in a rack apparatus in which luggage is loaded and unloaded with a slide fork, a plurality of sets of shelf holders arranged so as to be higher toward the outer group are arranged on a horizontal beam.

  According to this rack apparatus, it is possible to store various types of luggage, and to prevent the stored luggage from being shifted to the side.

JP-A-7-206119

  As described above, when the sizes of luggage handled in a warehouse or the like are not uniform, various sizes of luggage can be accommodated by using, for example, the conventional rack device as a rack for accommodating luggage.

  However, in this case, it is conceivable that a small luggage is accommodated in each of the relatively large accommodation spaces, which is disadvantageous from the viewpoint of effective use of the space in the rack, for example.

  In addition, it is conceivable to hold a small baggage on a pallet or case so that it can be stored in a rack that can hold a large baggage. In this case as well, a space that is not effectively used in the rack (invalid There is a problem that the (space) increases.

  Therefore, it is conceivable to install a plurality of types of racks having different maximum sizes of loads that can be accommodated so as to effectively use the space in each rack (reduce the invalid space).

  However, when there are multiple types of racks depending on the size of the luggage that can be accommodated, the size of the frontage for loading and unloading the luggage differs depending on the type of rack. It is necessary to prepare a transport vehicle.

  It is also possible to transfer packages to multiple types of racks with a single transport vehicle. In this case, the transfer device provided in the transport vehicle can handle the size of the frontage (the size of the frontage). There is a need to.

  For example, in the case of a transfer device that transfers a load with a slide fork, it may be possible to provide a mechanism for mechanically changing the width of the slide fork (the width in the direction perpendicular to the exit / retreat direction). For example, problems such as the complexity of the structure and control of the transfer device may be caused.

  In view of the above-described conventional problems, the present invention provides a transport vehicle including a transfer device that transfers a load, and can transfer various sizes of loads with a simple configuration. The purpose is to do.

  In order to solve the above-described conventional problems, a transport vehicle according to an aspect of the present invention is a transport vehicle that includes a traveling carriage and a transfer device disposed on the traveling carriage, and transports luggage unattended. The transfer device includes a base fixed to the traveling carriage, a slide fork disposed on the base, a slide fork having a loading / unloading plate that moves in and out of the base, and the base An attachment that is disposed below the load placement plate and is detachably attached to the load placement plate by engaging with the load placement plate, wherein the loadable area of the load on the load placement plate is An attachment for increasing the height of the load mounting plate, a lifting device that lifts and lowers the load mounting plate relative to the base, and the lifting device lowers the load mounting plate to a predetermined height position. The transfer of luggage The attachment is attached to the load placement plate and the load placement plate to which the attachment is attached is advanced in the first direction by moving in the first direction, which is the direction to be advanced to Controller.

  According to this configuration, by lowering the load mounting plate of the slide fork to a predetermined position and advancing it, an attachment that increases the loadable area of the load can be attached to the load mounting plate, and as it is, It is possible to shift to an operation for transferring a package.

  That is, by causing the slide fork to perform almost the same series of operations as a normal series of operations for transferring a load, it is possible to cause the slide fork to transfer a larger load than usual.

  Moreover, attachment of the attachment to the load placement plate is performed by engagement between the load placement plate and the attachment by movement of the load placement plate in a predetermined direction (first direction). Therefore, the attachment can be detached from the loading plate by moving the loading plate in the reverse direction.

  As described above, the transport vehicle according to this aspect is a transport vehicle including a transfer device that transfers a load, and can transfer various sizes of loads with a simple configuration.

  Further, in the transport vehicle according to one aspect of the present invention, the load mounting plate is provided at an end portion in the second direction that is a direction intersecting the first direction, and has a protruding portion that protrudes in the second direction. The attachment engages with the protrusion provided in a notch-like recess that allows the protrusion to pass in the up-down direction, and on the side where the loading plate is advanced below the recess. The projecting portion of the load mounting plate reaches the lower portion of the recess through the recess when the load mounting plate is lowered to the predetermined height position, The loading plate may be engaged with the engaging portion by moving in the first direction.

  According to this configuration, the load placing plate engages with the attachment by advancing after the protruding portion protruding from the side of the load placing plate descends below the recessed portion of the attachment. That is, the load mounting plate can be mounted by attaching it to the position below the part of the attachment and moving in the horizontal direction while avoiding interference with the attachment.

  In the transport vehicle according to an aspect of the present invention, the controller further lowers the load placing plate to the predetermined height position by the lifting device, and the load placing plate is opposite to the first direction. By moving in the third direction, which is the direction, the attachment of the attachment to the loading plate and the advancement of the loading plate to which the attachment is attached in the third direction are performed. The plate has a first projecting portion and a second projecting portion, which are the two projecting portions arranged side by side in the advancing direction of the load mounting plate at the end portion in the second direction, and the attachment includes 2 The first concave portion and the second concave portion that are the two concave portions, and the first engaging portion and the second engaging portion that are the two engaging portions. The loading plate is up to the predetermined height position By descending, it passes through the first recess and reaches below the first recess, and the load mounting plate moves in the first direction to engage with the first engagement portion, The second projecting portion of the placing plate passes through the second recessed portion and reaches below the second recessed portion when the loaded placing plate is lowered to the predetermined height position, and the loaded placing plate is The second engaging portion may be engaged by moving in the third direction.

  According to this configuration, the slide fork can move in and out of both the first direction and the third direction, which are directions opposite to each other. In addition, the slide fork can be attached to either the case of advancement in the first direction or the case of advancement in the third direction.

  As a result, for example, regardless of whether the rack that is the delivery partner is in the first direction or the third direction when viewed from the transport vehicle of this mode, the transport vehicle of this mode Small packages and large packages can be transferred.

  In the transport vehicle according to an aspect of the present invention, the load placing plate has a first tapered portion having a tapered surface that is formed on a surface on which the load is placed and is inclined with respect to the advance direction. The attachment has two second taper portions that are arranged side by side in the advance direction and have tapered surfaces inclined with respect to the advance direction, and one of the two second taper portions is When the load placement plate advances in the first direction, the load placement plate is disposed at a position aligned with the first taper portion and the second direction, and the other of the two second taper portions is the load placement plate. May be arranged at a position aligned with the first taper portion and the second direction when moving in the third direction.

  According to this configuration, one of the cases where the slide fork advances in the first direction and the case where the slide fork advances in the third direction has one first taper portion that the load mounting plate has two attachments. It is side by side with either one of the second taper portions (aligned in the second direction).

  Therefore, in any of the above cases, the large luggage is stably placed on the load placing plate and the attachment by at least two taper portions (the first taper portion and the second taper portion).

  Further, in the transport vehicle according to one aspect of the present invention, the transfer device further includes a regulating member that regulates movement of the attachment on the base, and the controller further includes the attachment attached to the attachment. After the load mounting plate is advanced, the load mounting plate is retracted to an initial position, and when the load mounting plate is retracted to the initial position, the attachment of the protruding portion of the load mounting plate is moved to the restriction member. The movement may be restricted by releasing the engagement with the engaging portion and reaching below the concave portion.

  According to this configuration, it is possible to improve the reliability of detachment of the attachment from the slide fork (loading plate) with a structural mechanism. For this reason, for example, it is unnecessary to control the lifting and lowering of the slide fork to surely remove the attachment from the loading plate.

  ADVANTAGE OF THE INVENTION According to this invention, it is a conveyance vehicle provided with the transfer apparatus which transfers a load, Comprising: The conveyance vehicle which can transfer the load of various sizes with a simple structure can be provided.

FIG. 1 is a perspective view showing an appearance of a transport vehicle in the embodiment. FIG. 2 is a block diagram showing an outline of the configuration of the transport vehicle in the embodiment. FIG. 3 is a front view showing a change in the height position of the slide fork in the embodiment. FIG. 4 is a side view showing a normal advance operation of the slide fork in the embodiment. FIG. 5 is a side view showing the advancing operation when the slide fork attachment is mounted in the embodiment. FIG. 6 is a perspective view showing an example of the outer appearance of the top plate and the attachment in the embodiment. FIG. 7 is a partial cross-sectional view showing a state of engagement between the top plate and the attachment. FIG. 8 is a diagram illustrating an example of an attachment removal procedure according to the embodiment. FIG. 9 is a diagram illustrating another example of the attachment removal procedure in the embodiment. FIG. 10 is a partial cross-sectional view showing an outline of an attachment including two notch portions corresponding to two restricting members. FIG. 11 is a perspective view showing the external appearance of a top plate and an attachment each having a tapered portion. FIG. 12 is a diagram illustrating a state where the top plate and the attachment illustrated in FIG. 11 are engaged.

  Hereinafter, a transport vehicle according to an embodiment of the present invention will be described with reference to the drawings. Each figure is a schematic diagram and is not necessarily illustrated exactly.

  In addition, the embodiments described below show comprehensive or specific examples. Numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of the constituent elements, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements.

  First, the outline of the configuration of the transport vehicle 100 in the embodiment of the present invention will be described with reference to FIGS. 1 and 2.

  FIG. 1 is a perspective view showing an appearance of a transport vehicle 100 in the embodiment.

  FIG. 2 is a block diagram illustrating an outline of a configuration of the transport vehicle 100 according to the embodiment.

  A transport vehicle 100 illustrated in FIG. 1 is a transport vehicle that unloads and transports luggage, and is a transport vehicle in which operations such as traveling are controlled by wireless communication, for example.

  The transport vehicle 100 includes a traveling carriage 101 and a transfer device 110 disposed on the traveling carriage 101. The traveling carriage 101 is, for example, a carriage that travels on a road surface or a track in a warehouse, and includes a power source (not shown) such as a motor that drives traveling.

  The transfer device 110 is a device that takes in a load from a rack or the like into the transport vehicle 100 and sends out the load from the transport vehicle 100 to the rack or the like. That is, the transfer device 110 is a device that transfers a load between the transport vehicle 100 and the outside.

  In the present embodiment, the transfer device 110 includes a base 111, a slide fork 120, an attachment 140, an elevating device 150, and a controller 115, as shown in FIG.

  The base 111 is a portion that is fixed to the traveling carriage 101 and serves as a basis of the entire transfer device 110, and elements such as a slide fork 120 are arranged on the base 111. The base 111 may be configured by a part of the traveling carriage 101.

  The slide fork 120 has a plurality of plates, and is a device that transfers cargo by moving in and out (expanding / contracting) with a telescopic structure. The slide fork 120 has a power source (not shown) such as a motor for driving the exit and withdrawal.

  The attachment 140 is a member that increases the loadable area of the load on the top plate (described later with reference to FIG. 3) of the slide fork 120. The attachment 140 is a member that is disposed below the top plate and is detachably attached to the top plate (slide fork 120) by engaging with the top plate. For example, the attachment 140 is not used in a normal state and is attached to the slide fork 120 only when a large load is transferred.

  In the present embodiment, the slide fork 120 can be moved up and down with respect to the attachment 140 by passing through the opening of the attachment 140 in the vertical direction.

  The lifting device 150 is a device that lifts and lowers the top plate of the slide fork 120. In the present embodiment, the lifting device 150 lifts and lowers the top plate by lifting and lowering the entire slide fork 120.

  The controller 115 is a control device that controls operations of the slide fork 120 and the lifting device 150.

  In the present embodiment, the controller 115 performs the following control, for example. That is, the elevating device 150 lowers the top plate of the slide fork 120 to a predetermined height position and moves the top plate in the first direction. As a result, the attachment 140 is attached to the top plate and the top plate to which the attachment 140 is attached is advanced in the first direction.

  Note that the first direction is a direction in which the top plate should be advanced in order to transfer the load, and is any direction parallel to the horizontal direction. In the present embodiment, for example, the X-axis positive direction or the X-axis negative direction in FIG.

  Various controls by the controller 115 are realized by causing a computer including a central processing unit, a memory, and an interface to execute a specific program, for example. The controller 115 may be realized by a control device that controls the overall operation of the transport vehicle 100 including the traveling carriage 101.

  Next, the operation | movement for attachment of the attachment 140 to the slide fork 120 which the conveyance vehicle 100 in this Embodiment performs is demonstrated using FIGS.

  FIG. 3 is a front view showing a change in the height position of the slide fork 120 in the embodiment.

  FIG. 4 is a side view showing a normal advance operation of the slide fork 120 in the embodiment.

  FIG. 5 is a side view showing an advancing operation when the attachment 140 of the slide fork 120 is mounted in the embodiment.

  3 to 5, the slide fork 120 is indicated by a solid line, and the attachment 140 is indicated by a dotted line so that the slide fork 120 and the attachment 140 can be clearly identified. Further, in FIG. 5, the base 111 is also indicated by a dotted line so that the slide fork 120 and the base 111 can be clearly identified.

  As shown in FIGS. 3 to 5, the slide fork 120 includes a bottom plate 121, a middle plate 122, and a top plate 123.

  The bottom plate 121 is a plate that is supported by the elevating device 150 from below, and does not move out (move in the X-axis direction). The middle plate 122 is a plate that moves out along the bottom plate 121, and the top plate 123 is a plate that moves out along the middle plate 122. That is, the slide fork 120 is a device that moves out and with a telescopic structure as described above.

  The top plate 123 is an example of a load placement plate, and is a plate-like member on which a load is placed. The top plate 123 is provided at an end portion in the second direction (Y-axis direction) that intersects the first direction, and has a protruding portion 124 that protrudes in the second direction. The top plate 123 advances together with the attachment 140 in a state where the protruding portion 124 is engaged with the attachment 140. Details of the engagement between the protrusion 124 and the attachment 140 will be described later with reference to FIGS. 6 and 7.

  As shown in FIG. 3, the slide fork 120 configured as described above is moved to at least three height positions (positions in the Z-axis direction) by the lifting device 150.

  Specifically, as shown in FIGS. 3A to 3C, the slide fork 120 has a height level H having the highest height position, a height level L having the lowest height position, and a height position. The height position is adjusted in at least three stages of medium height level M.

  When the slide fork 120 is positioned at the height level M, the middle plate 122 and the top plate 123 can move in and out without interfering with the attachment 140 as shown in FIG. For example, when a package is received using only the top plate 123, the slide fork 120 advances in the direction of the package with the slide fork 120 positioned at the height level M.

  In the present embodiment, the slide fork 120 can advance in the first direction and the third direction which are opposite to each other. The first direction is, for example, the X axis positive direction (see FIG. 4A), and in this case, the third direction is the X axis negative direction (see FIG. 4B). That is, the third direction is the same direction as the first direction in which the top plate 123 should be advanced for transferring the cargo.

  Thereafter, after the top plate 123 has advanced until the top plate 123 is inserted below the load, the slide fork 120 is raised to the height level H by the lifting device 150. Thereby, the load is scooped up by the top plate 123.

  Thereafter, the slide fork 120 is retracted (reduced) while maintaining the height level H, whereby the load picked up by the top plate 123 is taken into the transport vehicle 100.

  Further, when the load is not placed on the slide fork 120 and is positioned at the height level L, the top plate 123 is positioned at a height at which the top plate 123 can be engaged with the attachment 140.

  That is, when the slide fork 120 advances in a state where it is at the height level L, as shown in FIG. 5, the slide fork 120 advances with the top plate 123 engaged with the attachment 140.

  That is, as shown in FIGS. 5A and 5B, the slide fork 120 can attach the attachment 140 by the advance operation for transferring the load.

  The slide fork 120 to which the attachment 140 is attached in this way advances until the top plate 123 is inserted below the load. Thereafter, the slide fork 120 is raised to the height level H by the lifting device 150. Thereby, the load is scooped up by the top plate 123 to which the attachment 140 is attached.

  Thereafter, the slide fork 120 is retracted (reduced) while maintaining the height level H, whereby the load picked up by the top plate 123 and the attachment 140 is taken into the transport vehicle 100.

  Thus, by attaching the attachment 140 to the top plate 123, the transport vehicle 100 can transfer a load of a size that is impossible or difficult to transfer using only the top plate 123.

  Note that the luggage taken into the transport vehicle 100 is transported while the slide fork 120 is maintained at the height level H regardless of whether or not the attachment 140 is attached to the top plate 123.

  Thereafter, the transport vehicle 100 stops in front of a place (for example, a shelf in the rack) on which the load is to be placed, and the slide fork 120 moves in the direction of the shelf with the height level H. Further, when the slide fork 120 is lowered to the height level M, the load is placed on the shelf, and then the top plate 123 of the slide fork 120 is retracted to the initial position.

  When the attachment 140 is attached to the top plate 123, the attachment 140 is removed according to the operation of the slide fork 120 during the retraction. An example of the procedure for removing the attachment 140 will be described later with reference to FIG.

  As described above, in the present embodiment, by attaching the attachment 140 to the top plate 123 that is a plate on which a load is placed in the slide fork 120, the loadable area is expanded.

  Specifically, in the present embodiment, for example, the attachment 140 is attached to the top plate 123 in the manner shown in FIGS.

  FIG. 6 is a perspective view showing an example of the appearance of the top plate 123 and the attachment 140 in the embodiment. FIG. 7 is a partial cross-sectional view showing how the top plate 123 and the attachment 140 are engaged.

  6 and 7, only the top plate 123 and the attachment 140 are illustrated, and other elements such as the bottom plate 121 and the middle plate 122 are not illustrated. In FIG. 6, the top plate 123 is illustrated away from the attachment 140 so that the structural relationship between the top plate 123 and the attachment 140 is clear.

  Furthermore, in FIG. 6, any one of 124 a to 124 f is attached to each of the six protrusions 124 in order to distinguish the six protrusions 124 from each other. Moreover, in order to distinguish the six recessed parts 141 from each other, any of 141 a to 141 f is attached to each of the six recessed parts 141. In FIG. 7, a partial cross section including the concave portion 141 a of the attachment 140 and a partial side surface including the protruding portion 124 a of the top plate 123 are illustrated.

  As shown in FIG. 6, the top plate 123 is provided at an end portion in the second direction (Y-axis direction) and has a protruding portion 124 that protrudes in the second direction. The top plate 123 advances together with the attachment 140 in a state where the protruding portion 124 is engaged with the attachment 140.

  Specifically, the attachment 140 includes a recess 141 provided in a notch shape that allows the protrusion 124 to pass in the vertical direction, and a protrusion 124 provided below the recess 141 and on the side where the top plate 123 advances. And an engaging portion 144 to be engaged.

  More specifically, the attachment 140 has an opening 142 that allows at least the top plate 123 of the plurality of plates of the slide fork 120 to pass in the vertical direction, and a recess 141 is provided on the periphery of the opening. In the present embodiment, the opening 142 is provided in the attachment 140 in such a size and shape that the entire slide fork 120 can pass in the vertical direction.

  That is, as shown in FIGS. 7A and 7B, the protruding portion 124 of the top plate 123 moves down the concave portion 141 by the top plate 123 being lowered to a predetermined height position under the control of the controller 115. Passes and reaches the lower part of the recess 141.

  In the present embodiment, the predetermined height position is the height position of the top plate 123 when the slide fork 120 is at the height level L (see FIG. 3B).

  Further, as shown in FIG. 7C, the protruding portion 124 is engaged with the engaging portion 144 when the top plate 123 moves in the first direction (X-axis positive direction). Thereafter, as the top plate 123 advances, the attachment 140 also advances.

  In the present embodiment, as shown in FIG. 6, six pairs of protrusions 124 and recesses 141 that allow the attachment 140 to be detachably attached to the top plate 123 are provided.

  When the slide fork 120 is set to a height level L (see FIG. 3B) under the control of the controller 115, each of the protrusions 124 passes through the recess 141 corresponding to the protrusion 124. , Inserted into the attachment 140. Thereafter, the top plate 123 moves in the first direction (X-axis positive direction), so that each of the protrusions 124 engages with the engagement part 144 corresponding to the protrusion 124.

  As a result, the attachment 140 can be advanced together with the top plate 123 for transferring the luggage in a stable state.

  Further, as shown in FIG. 5B, the controller 115 is also attached with the attachment 140 in the third direction (X-axis negative direction) opposite to the first direction (X-axis positive direction). The top plate 123 can be advanced.

  Specifically, the controller 115 lowers the top plate 123 to a predetermined height position by the lifting device 150 and moves the top plate 123 in the third direction (X-axis negative direction). Thereby, attachment to the top plate 123 of the attachment 140 and advancement to the third direction (X-axis negative direction) of the top plate 123 to which the attachment 140 is attached are performed.

  In order to realize such an operation, the top plate 123 and the attachment 140 have the following configuration.

  That is, the top plate 123 has a first protrusion and a second protrusion which are two protrusions 124 arranged side by side in the advance direction of the top plate 123 at the end in the second direction (Y-axis direction). .

  The attachment 140 includes two concave portions, a first concave portion and a second concave portion, and two engaging portions 144, which are a first engaging portion and a second engaging portion.

  Here, in FIG. 6, the first protrusion is, for example, the protrusion 124a, and the second protrusion is, for example, the protrusion 124c. In this case, the first recess is the recess 141a, and the second recess is the recess 141c. The first engagement portion is an engagement portion 144 corresponding to the recess 141a, and the second engagement portion is an engagement portion 144 corresponding to the recess 141c.

  In this case, the protruding portion 124a of the top plate 123 passes through the concave portion 141a and reaches below the concave portion 141a when the top plate 123 is lowered to a predetermined height position. The protrusion 124a further engages with the engaging portion 144 on the first direction (X-axis positive direction) side with respect to the recess 141a as the top plate 123 moves in the first direction (X-axis positive direction). .

  Further, the protruding portion 124c of the top plate 123 passes through the concave portion 141c and reaches below the concave portion 141c when the top plate 123 descends to a predetermined height position. The protrusion 124c further engages with the engagement portion 144 on the third direction (X-axis negative direction) side of the recess 141a as the top plate 123 moves in the third direction (X-axis negative direction). .

  Here, among the six protrusions 124 provided on the top plate 123 in the present embodiment, four protrusions 124 (124a, 124a, 124) at both ends in the X-axis direction, which is the advancing direction of the slide fork 120 (top plate 123). 124c, 124d, and 124f) also play a role of pushing the attachment 140 in the advance direction (see FIGS. 5 and 7).

  That is, the engaging portions 144 corresponding to the four protruding portions 124 are a part of the attachment 140, like the engaging portion 144 shown in FIG. It is comprised by the part contact | abutted with.

  In addition, only the upper surface of each of the two protrusions 124 (124 b and 124 e) located in the center of the top plate 123 in the X-axis direction comes into contact with the attachment 140. That is, each of these protrusions 124 mainly plays a role of supporting the attachment 140 from below by engaging with the engaging part 144 corresponding to the protrusion 124 in the vertical direction. In this case, the engaging portion 144 is a part of the attachment 140 and is configured by a portion that abuts on each of the upper surfaces of the protruding portions 124.

  That is, the protruding portion 124 and the engaging portion 144 may have positions and configurations that can contribute to the advancement of the attachment 140 accompanying the advancement of the top plate 123 when the protruding portion 124 and the engaging portion 144 are engaged. For example, various aspects can be adopted.

  For example, the four protrusions 124 (124a, 124c, 124d, 124f) at both ends in the X-axis direction of the top plate 123 do not have to act to push the attachment 140 in the advance direction. For example, the four protrusions 124 may engage with the engagement part 144 only in the vertical direction, like the two center protrusions 124 (124b and 124e).

  In this case, for example, the front end (end portion in the advance direction) of the top plate 123 acts so as to push the attachment 140, whereby the attachment 140 can be advanced together with the top plate 123.

  Further, all of the six protrusions 124 may act to push the attachment 140 by abutting against, for example, a rib erected on the inner surface of the attachment 140 in the advance direction of the top plate 123.

  As described above, the transfer device 110 included in the transport vehicle 100 according to the present embodiment uses the load placement surface of only the top plate 123 or is expanded by the attachment 140 and uses the load placement surface. Transfer can be performed. That is, a relatively large load can be transferred using the attachment 140, and a relatively small load can be transferred using only the top plate 123 without using the attachment 140.

  Therefore, according to the transfer device 110, for example, when a small load is transferred to or from a small load rack, the slide fork 120 is prevented from interfering with the rack, and the large load rack is transferred. Large packages can be transferred stably between the two.

  As described above, the transport vehicle 100 according to the present embodiment is a transport vehicle including the transfer device 110 that transfers packages, and can transfer packages of various sizes with a simple configuration. It is a car.

  Further, the attachment 140 is removed from the top plate 123 by, for example, controlling the retraction and lifting of the slide fork 120 by the controller 115.

  FIG. 8 is a diagram illustrating an example of a procedure for removing the attachment 140 according to the embodiment.

  As described above, the controller 115 lowers the slide fork 120 to the height level M so that the load on the slide fork 120 is placed on a shelf or the like, and then the slide fork 120 is retracted at the height level M. Start with state.

  Thereafter, as shown in FIG. 8A, when the rear end (end portion in the retracting direction) of the attachment 140 attached to the top plate 123 reaches the initial position Pa of the attachment 140, the controller 115 Once, the retracting operation of the slide fork 120 is stopped.

  The controller 115 can determine that the rear end of the attachment 140 has reached the initial position Pa, for example, from the retraction distance of the slide fork 120 (the movement distance of the top plate 123 in the retraction direction).

  Thereafter, as shown in FIG. 8B, the controller 115 lowers the slide fork 120 to a height level L or less, so that the attachment 140 is placed on the base 111, for example, and the top plate 123 and The engagement with the attachment 140 is released.

  The controller 115 further retracts the top plate 123 to the initial position Pb of the top plate 123. As a result, the top plate 123 is stopped at a position where each of the six protrusions 124 can pass through the recess 141 corresponding to the protrusion 124 (see FIG. 6).

  The controller 115 further raises the slide fork 120 to the height level M (see FIG. 3A) as shown in FIG. As a result, the slide fork 120 is in a state in which, for example, a small package is transferred without the attachment 140 (only with the top plate 123).

  The controller 115 controls the operations of the slide fork 120 and the lifting device 150 in this way, so that the attachment 140 attached to the top plate 123 can be detached from the top plate 123.

  That is, the attachment / detachment of the attachment 140 to / from the slide fork 120 can be performed within the normal control range that the controller 115 performs for transferring the load, such as control of the slide fork 120 to move out and up and down.

  In FIG. 6 and the like, each of the plurality of projecting portions 124 is illustrated as being provided at the same height as the loading surface of the top plate 123. However, each of the plurality of projecting portions 124 may be provided on the side of the top plate 123 and at a position below the loading surface.

  For example, each of the plurality of projecting portions 124 may be positioned below the load placement surface by the thickness of the attachment 140. As a result, an expanded loading surface with almost no step can be formed by the loading surface of the top plate 123 and the top surface of the attachment 140.

  Here, the transfer device 110 according to the present embodiment can also remove the attachment 140 by using a restricting member that contacts the attachment 140 instead of removing the attachment 140 by such operation control.

  FIG. 9 is a diagram illustrating another example of the procedure for removing the attachment 140 in the embodiment.

  The transfer device 110 illustrated in FIG. 9 includes a restriction member 113 that restricts movement of the attachment 140 on the base 111.

  The restricting member 113 is a member that restricts the movement of the attachment 140 when, for example, a part of the restricting member 113 is embedded in the base 111 and a portion exposed on the base 111 abuts the attachment 140. The restricting member 113 has an elastic body such as a spring, for example, and is configured such that when the attachment 140 advances in the direction of the restricting member 113, a portion exposed on the base 111 is temporarily lowered downward. ing.

  In the transfer device 110 having such a regulating member 113, the controller 115 retracts the slide fork 120 with the slide fork 120 lowered to the height level L.

  Thereafter, as shown in FIG. 9A, the rear end of the attachment 140 attached to the top plate 123 comes into contact with the regulating member 113, so that the movement of the attachment 140 is stopped, and the movement of the top plate 123 is stopped. continue.

  Thereafter, the controller 115 retracts the top plate 123 to the initial position Pb of the top plate 123 as shown in FIG. As a result, the top plate 123 is stopped at a position where each of the six protrusions 124 can pass through the recess 141 corresponding to the protrusion 124 (see FIG. 6).

  That is, the controller 115 retracts the top plate 123 to the initial position Pb after the top plate 123 is advanced. When the top plate 123 is retracted to the initial position Pb, the protrusion 124 of the top plate 123 releases the engagement with the engaging portion 144 by restricting the movement of the attachment 140 by the restricting member 113. And, it reaches below the concave portion 141.

  After retracting the top plate 123 to the initial position Pb as described above, the controller 115 moves the slide fork 120 to the height level M (see FIG. 3A) as shown in FIG. Raise. As a result, the slide fork 120 is in a state in which, for example, a small package is transferred without the attachment 140 (only with the top plate 123).

  As described above, the transfer device 110 includes the restriction member 113, so that the attachment 140 attached to the top plate 123 can be detached from the top plate 123 in a series of operations for retracting the slide fork 120. it can.

  Further, when the load is received by the top plate 123 to which the attachment 140 is attached, the slide fork is retracted in the state of the height level M, so that interference between the regulating member 113 and the attachment 140 can be avoided.

  For example, as shown in FIG. 3, the slide fork 120 advances in a state where the attachment 140 is attached in both the first direction (X-axis positive direction) and the third direction (X-axis negative direction). be able to. That is, the slide fork 120 can move in and out in both directions parallel to the X axis.

  For example, when the slide fork 120 in the state shown in FIG. 9B advances in the third direction (X-axis negative direction), the front end and the rear end of the attachment 140 are elastically deformed, for example, by the regulating member 113. The restriction member 113 can be exceeded.

  However, when the attachment 140 that has advanced in the third direction (the negative direction of the X-axis) is retracted, the rear end (end portion in the retracting direction) of the attachment 140 comes into contact with the regulating member 113, so that the attachment 140 is at the top. It is conceivable that the plate 123 is displaced.

  Further, at least two restricting members 113 for stopping the attachment 140 at the initial position Pa are required corresponding to the slide fork 120 that can be retracted in both directions parallel to the X axis.

  Therefore, it is conceivable that by providing a notch in the attachment 140, the rear end of the attachment 140 avoids interference with one of the two restricting members 113 that should not come into contact during retraction.

  FIG. 10 is a partial cross-sectional view illustrating an outline of an attachment 140 including two notches corresponding to the two restricting members 113.

  In FIG. 10, the slide fork 120 is not shown in order to clearly show the positional relationship between the attachment 140 and the two restricting members 113a and 113b.

  For example, as shown in FIG. 10, the regulating member 113 a and the regulating member 113 b are arranged on the base 111. The regulating member 113a and the regulating member 113b are arranged with a distance corresponding to the length in the X-axis direction of the attachment 140 in the X-axis direction, and are arranged so as not to line up in the Y-axis direction. .

  As shown in FIG. 10, the attachment 140 is provided with a notch 143a at one end in the X-axis direction and a notch 143b at the other end in the X-axis direction.

  When the attachment 140 having the above configuration advances in the first direction (X-axis positive direction), the front end of the attachment 140 exceeds the regulating member 113a by the propulsive force of the top plate 123. Further, the rear end of the attachment 140 does not interfere with the regulating member 113a due to the presence of the notch 143b.

  Further, when the attachment 140 that has advanced in the first direction (the positive direction of the X axis) is retracted, the rear end of the attachment 140 does not interfere with the regulating member 113a due to the presence of the notch 143b, and It abuts on the regulating member 113b. That is, the attachment 140 stops when the movement is restricted by the restriction member 113b.

  When the attachment 140 advances in the third direction (X-axis negative direction), the front end of the attachment 140 exceeds the regulating member 113b by the propulsive force of the top plate 123. Further, the rear end of the attachment 140 does not interfere with the regulating member 113b due to the presence of the notch 143a.

  Further, when the attachment 140 that has advanced in the third direction (X-axis negative direction) is retracted, the rear end of the attachment 140 does not interfere with the regulating member 113b due to the presence of the notch 143a, and It abuts on the regulating member 113a. That is, the attachment 140 stops when the movement is restricted by the restriction member 113a.

  In this way, the transfer device 110 according to the present embodiment can remove the attachment 140 attached to the slide fork 120 that moves back and forth in both directions using the two restricting members (113a, 113b).

  The restriction members 113 (113a and 113b) described with reference to FIGS. 9 and 10 are examples of restriction members that restrict the movement of the attachment 140, and the mechanism and structure of the restriction member that restricts the movement of the attachment 140 are used. There is no particular limitation.

  For example, a mechanism in which one of the regulating members 113a and 113b shown in FIG. 10 in the advance direction of the attachment 140 is brought down by the propulsive force of the top plate 123, so that the other of the regulating members 113a and 113b rises. It may be adopted.

  In addition, for example, the movement of the attachment 140 may be restricted by a restricting member appearing and retracting from the base by a link mechanism interlocking with the slide fork 120 moving in and out.

  The transport vehicle of the present invention has been described based on the embodiments. However, the present invention is not limited to the above embodiment. Unless it deviates from the meaning of the present invention, various modifications conceived by those skilled in the art are applied to the embodiments or the like, or a form constructed by combining a plurality of the constituent elements described above is also within the scope of the present invention. included.

  For example, the size and shape of the attachment 140 are not limited to the size and shape shown in FIG. 6, for example. For example, an attachment 140 larger than that shown in FIG. 6 may be attached to the slide fork 120 so as to further increase the loadable area.

  Further, for example, a taper portion may be provided on the attachment 140 in order to stably hold a load that is difficult to be stabilized on a plane, such as a roll-shaped load that is long in the axial direction. Further, by providing the top plate 123 with a tapered portion, the luggage may be further stabilized.

  FIG. 11 is a perspective view showing the appearance of the top plate 123a and the attachment 140a each having a tapered portion.

  FIG. 12 is a diagram illustrating a state in which the top plate 123a and the attachment 140a illustrated in FIG. 11 are engaged.

  As shown in FIG. 11, the top plate 123a has a tapered portion 125 in the central region in the advancing direction (X-axis direction). The taper portion 125 is an example of a first taper portion, and is a member having a tapered surface inclined with respect to the advance direction.

  The attachment 140a includes tapered portions 145 and 145b at both ends in the second direction (Y-axis direction). Each of the taper portions 145 and 145b is an example of a second taper portion, and is a member having a tapered surface inclined with respect to the advance direction. The tapered portions 145 and 145b are arranged in the advance direction.

  Each of the taper portions 125, 145a, and 145b is a member made of, for example, resin or metal, and is joined to the top plate 123a or the attachment 140a with screws or the like.

  The top plate 123a and the attachment 140a having such a configuration are engaged as shown in FIG.

  Specifically, as shown in FIG. 12A, when the top plate 123a advances in the first direction (X-axis positive direction), each of the tapered portions 145a of the attachment 140a It is aligned with the tapered portion 125 in the second direction (Y-axis direction).

  Also, as shown in FIG. 12B, when the top plate 123a advances in the third direction (X-axis negative direction), each of the tapered portions 145b of the attachment 140a has a tapered portion 125 of the top plate 123a. In the second direction (Y-axis direction).

  That is, when the top plate 123a advances in the first direction, one of the two taper portions (145a, 145b) arranged in the advance direction in the attachment 140a has a taper portion 125 and the second taper portion 145a. It is arranged at a position aligned in the direction. Further, of the two taper portions (145a, 145b), the other (taper portion 145b) is arranged at a position aligned with the taper portion 125 in the second direction when the top plate 123a advances in the third direction.

  In this way, the tapered portions are arranged so that the tapered portion of the top plate 123a and the tapered portion of the attachment 140a are aligned in accordance with the direction in which the top plate 123a advances.

  As a result, regardless of whether the top plate 123a advances in the first direction or the third direction, for example, the roll-shaped large luggage is stabilized by the tapered portion of the top plate 123a and the tapered portion of the attachment 140a. Can be held.

  Note that the attachment 140a may be combined with the top plate 123 that does not have the tapered portion 125. In this case, for example, a load that can be stably held on a flat surface can be received only by the top plate 123, and a load that is easy to roll, such as a roll-shaped load, can be received by the top plate 123 to which the attachment 140a is attached.

  Moreover, although the attachment 140 in the said embodiment is attached so that it may straddle with respect to the top plate 123 in a Y-axis direction, the shape attached to only one end of the top plate 123 may be sufficient as the attachment 140.

  For example, in FIG. 3B, the attachment 140 may be disposed only on either the left or right side of the top plate 123.

  In this case, the attachment 140 includes, for example, the engaging portion 144 provided so as to sandwich the protruding portion 124 from above and below, thereby causing the engaging portion 144 to hold the protruding portion 124. As a result, the attachment 140 can be detachably attached to the top plate 123.

  Further, the mode of engagement between the protruding portion 124 and the engaging portion 144 is not particularly limited. For example, the engagement is not limited to the engagement between the projection 124 and the engagement portion 144 as shown in FIG. 7, but the engagement by insertion of the projection 124 and the engagement portion 144 into the other one, the biasing force by the elastic body Various types of engagement, such as engagement using, can be employed. That is, as long as the attachment 140 can be detachably attached to the top plate 123, the protruding portion 124 and the engaging portion 144 may be engaged in any manner.

  Further, the number of the protrusions 124 is not particularly limited. That is, the top plate 123 has at least one protrusion 124, and the attachment 140 has at least one concave portion 141 and engagement portion 144, so that the attachment 140 can be detachably attached to the top plate 123. is there.

  Further, the number of plates constituting the slide fork 120 is not necessarily three. For example, the slide fork 120 may be configured with only the bottom plate 121 and the top plate 123. For example, two or more middle plates may be interposed between the bottom plate 121 and the top plate 123.

  Moreover, although the said embodiment demonstrated the conveyance vehicle 100 provided with the traveling trolley | bogie 101 and the transfer apparatus 110 as an example of the conveyance vehicle which concerns on this invention, there is no limitation in particular in the kind of conveyance vehicle which concerns on this invention. . For example, the transport vehicle according to the present invention may be realized as a stacker crane including a lifting platform for moving the transfer device 110 up and down.

  The transport vehicle according to the present invention is a transport vehicle including a transfer device that transfers a load, and can transfer loads of various sizes with a simple configuration. Therefore, the transport vehicle according to the present invention is useful as a transport vehicle for transporting luggage in warehouses, clean rooms, factories, hospitals, libraries, or outdoors.

DESCRIPTION OF SYMBOLS 100 Conveyance vehicle 101 Traveling carriage 110 Transfer device 113, 113a, 113b Restriction member 115 Controller 120 Slide fork 121 Bottom plate 122 Middle plate 123, 123a Top plate 124, 124a, 124b, 124c, 124d, 124e, 124f Protruding part 125, 145, 145a, 145b Tapered part 140, 140a Attachment 141, 141a, 141b, 141c, 141d, 141e, 141f Recessed part 143a, 143b Notch part 144 Engagement part 150 Lifting device

Claims (5)

A transport vehicle that includes a traveling cart and a transfer device disposed on the traveling cart, and transports luggage unattended,
The transfer device is
A base fixed to the traveling carriage;
A slide fork disposed on the base, wherein the slide fork has a loading plate that moves in and out of the base;
In the base, the attachment is disposed below the load placement plate and is detachably attached to the load placement plate by engaging with the load placement plate, wherein the load is placed on the load placement plate. An attachment that increases the possible area;
A lifting device that lifts and lowers the loading platform with respect to the base;
The load placing plate is lowered to a predetermined height position by the lifting device, and the load placing plate is moved in a first direction, which is a direction to be advanced for transferring the load, A transport vehicle comprising: a controller for attaching an attachment to the load placement plate and advancing the load placement plate to which the attachment is attached in the first direction. The loading plate is provided at an end portion in a second direction which is a direction intersecting the first direction, and has a protruding portion protruding in the second direction,
The attachment includes a recess provided in a notch shape that allows the protrusion to pass in the up-down direction, and an engagement with the protrusion provided below the recess and on the side on which the loading plate is advanced. And
The projecting portion of the load placement plate passes through the recess and reaches the lower portion of the recess when the load placement plate is lowered to the predetermined height position, and the load placement plate is moved in the first direction. The transport vehicle according to claim 1, wherein the transport vehicle is engaged with the engaging portion by moving. The controller further lowers the loading plate by the lifting device to the predetermined height position, and moves the loading plate in a third direction that is opposite to the first direction, Attaching the attachment to the load mounting plate and advancing in the third direction of the load mounting plate to which the attachment is attached;
The loading plate has a first protruding portion and a second protruding portion that are the two protruding portions arranged side by side in the advancing direction of the loading plate at the end in the second direction,
The attachment has a first concave portion and a second concave portion that are the two concave portions, and a first engaging portion and a second engaging portion that are the two engaging portions,
The first projecting portion of the load mounting plate reaches the lower portion of the first recess through the first recess when the load mounting plate is lowered to the predetermined height position. Is engaged with the first engaging portion by moving in the first direction,
The second projecting portion of the load mounting plate reaches the lower portion of the second recess through the second recess when the load mounting plate is lowered to the predetermined height position. The transport vehicle according to claim 2, wherein the vehicle is engaged with the second engagement portion by moving in the third direction. The load placing plate has a first taper portion formed on a surface on which the load is placed and having a tapered surface inclined with respect to the advance direction,
The attachment has two second taper portions arranged side by side in the advance direction and having a tapered surface inclined with respect to the advance direction,
One of the two second taper portions is arranged at a position aligned with the first taper portion and the second direction when the load mounting plate advances in the first direction,
The other of the two second taper portions is arranged at a position aligned with the first taper portion and the second direction when the load mounting plate advances in the third direction. Transport vehicle. The transfer device further includes a regulating member that regulates movement of the attachment on the base,
The controller further retreats the load mounting plate to an initial position after advancing the load mounting plate to which the attachment is attached,
The protrusion of the loading plate releases the engagement with the engaging portion when the movement of the attachment is restricted by the restricting member when the loading plate is retracted to the initial position. And the conveyance vehicle of any one of Claims 1-4 which reaches | attains below the said recessed part.

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