JP2020138819A - Automatic operating forklift - Google Patents

Abstract

To provide an automatic operating forklift capable of automatically moving a cargo unit to a carrying-in space and capable of automatically carrying the cargo unit into the carrying-in space so that there are no gaps between adjacent objects.SOLUTION: An automatic operating forklift has a vehicle body, a traveling device, a fork, a lifting device, a side shift device, a hydraulic pump, and a control device, and comprises side shift pressure detection means to detect a shift hydraulic oil pressure in the side shift device and carrying-in space detection means to detect the carrying-in space. There are adjacent objects in the carrying-in space. The control device has carrying-in space recognition means to recognize the carrying-in space using the carrying-in place detection means, cargo unit carrying-in means to insert the cargo unit into the carrying-in space, and width aligning execution means of the cargo unit, where the width aligning execution means of the cargo unit detects a shift hydraulic oil pressure while moving the cargo unit inserting into the carrying-in space by controlling the side shift device, with the fork in the direction closer to the adjacent object, and determines a contact state between the cargo unit and the adjacent objects by the rising state of the shift hydraulic oil pressure.SELECTED DRAWING: Figure 1

Description

The present invention relates to an autonomous driving forklift.

For example, Patent Document 1 describes an unmanned forklift (corresponding to an automatic driving forklift) as an automatic driving forklift that automatically picks up luggage, moves to a loading place (corresponding to a loading space), and carries the luggage. The unmanned forklift of Patent Document 1 acquires an image of the edge line of the hole of the pallet by irradiating the side of the open end surface of the hole of the pallet with the laser beam and scanning the laser beam when going to pick up the luggage. Then, based on the acquired image of the line of the edge of the hole of the pallet, the distance to the pallet and the inclination angle with respect to the pallet are calculated.

In the unmanned forklift of Patent Document 1, the distance between the pallet on which the luggage to be carried in is placed and the unmanned forklift, the traveling direction of the unmanned forklift and the orientation of the pallet on which the luggage is placed are different. A plurality of image data obtained under the conditions are stored in advance. The unmanned forklift determines the distance to the pallet and the tilt angle with respect to the pallet based on the stored image data and the acquired image data, and determines whether or not the fork can be inserted into the hole of the pallet without interfering with the fork. To do.

Japanese Unexamined Patent Publication No. 2017-19596

When carrying in luggage using a forklift, it is desirable to carry in new luggage into the carry-in space where the wall surface and other luggage exist on the right or left so that they are in close contact with the wall surface and other luggage. Sometimes. In a manually operated forklift where there is a driver, the driver inserts the luggage into the carry-in space and then slides the fork to the right or left to visually recognize that the fork actually touches the wall surface or other luggage. By stopping the sliding movement of the above and carrying in, it is possible to appropriately carry in new luggage into the carry-in space so as to make contact with the wall surface and other luggage without gaps.

In the unmanned forklift described in Patent Document 1, when the load is acquired and lifted, the fork can be appropriately inserted into the hole of the pallet of the load to be carried in by using a laser beam to lift the load. However, with the unmanned forklift described in Patent Document 1, it is very difficult to bring the lifted load into the carry-in space so as to come into contact with the wall surface and other load without gaps. Suppose that the laser beam is scanned to acquire image data of the wall surface and other luggage existing on the right or left of the carry-in space, the distance to the wall surface and other luggage is measured, and the fork is moved to the right or left by the measured distance. Even if the slide is moved, it is not possible to detect whether or not the load being lifted is actually in contact. Since the measurement distance includes an error, if the measurement distance is shorter than the actual distance, if you slide the fork to the right or left by the measurement distance, the load you are lifting will actually be on the wall or other parts. It is not preferable because it means that you are not in contact with your luggage. Also, when the measurement distance is longer than the actual distance, if the fork is slid to the right or left by the measurement distance, the lifted load is pressed against the wall surface or other load with an unnecessarily large force. It is not preferable because it becomes.

The present invention has been devised in view of such a point, so that the carry-in space where the wall surface or other luggage exists on the right or left can be appropriately contacted with the wall surface or other luggage without a gap. The challenge is to provide an autonomous forklift that can carry in new luggage.

In order to solve the above problems, the first invention comprises raising and lowering a vehicle body, a traveling device for traveling the vehicle body, a fork arranged in front of the vehicle body, and the fork in the vertical direction with respect to the vehicle body. A device, a side shift device that slides the fork to the left and right with respect to the vehicle body, a hydraulic pump that supplies hydraulic oil to at least the side shift device, the traveling device, the elevating device, and the side shift device. An automatic operation forklift having a control device for controlling the hydraulic pump, a side shift pressure detecting means for detecting a shift hydraulic oil pressure which is a pressure of hydraulic oil in the side shift device, and the fork and the elevating and lowering. The carry-in space is provided with a carry-in location detecting means for detecting a carry-in space, which is a space for carrying in the luggage unit lifted by the device, and the carry-in space is on the right or left side of the automatic operation forklift. There is an adjacent object which is an object adjacent to the above, and the control device uses the carry-in location detecting means to recognize the carry-in space in which the lifted luggage unit should be carried in, and the carry-in space recognition means and the traveling. The luggage unit loading means for controlling the device to move the vehicle body forward and inserting the lifted luggage unit into the loading space, and the luggage inserted into the loading space by controlling the side shift device. The shift hydraulic oil pressure is detected while moving the unit together with the fork in a direction approaching the adjacent object, and the contact state between the luggage unit and the adjacent object is determined according to the detected increase state of the shift hydraulic oil pressure. It is an automatic operation forklift having a luggage unit width adjusting execution means for determining.

The second invention is an automatic operation forklift according to the first invention, wherein the side shift device is provided with a relief valve that limits the pressure of hydraulic oil in the side shift device to the relief pressure or less. When the shift hydraulic oil pressure detected by the control device while moving the luggage unit by the luggage unit width adjusting execution means reaches the relief pressure, the luggage unit moves to the adjacent object. It is an automatic operation forklift having a luggage unit width-aligning stop means that determines that they are in contact and stops the operation of the side shift device.

A third invention is an automatic operation forklift according to the first invention, wherein the side shift device is provided with a relief valve that limits the pressure of hydraulic oil in the side shift device to the relief pressure or less. The control device of the luggage unit has a predetermined time or a predetermined distance from the time when the increase in the shift hydraulic oil pressure detected while moving the luggage unit by the luggage unit width adjusting execution means is detected. The minute side movement operation of stopping the operation of the side shift device after continuing the movement is repeated until the shift hydraulic oil pressure reaches the relief pressure, and when the shift hydraulic oil pressure reaches the relief pressure, the luggage. An automatic operation forklift having a luggage unit width-aligning stop means for determining that the unit is in contact with the adjacent object.

The fourth invention is an automatic operation forklift according to the second or third invention, wherein the luggage unit is a pallet on which luggage can be placed or can be accommodated, or the pallet and luggage, or luggage. It is an automatic operation forklift.

The fifth invention is the automatic operation forklift according to the fourth invention, and when the luggage unit includes the pallet, the pallet is formed with a fork insertion opening into which the fork can be inserted. The fork insertion opening is surrounded by a pallet bottom surface, which is the bottom surface of the pallet, and pallet legs, which are legs provided on the left and right sides of the pallet bottom surface, on the left and right sides. After the shift hydraulic oil pressure reaches the relief pressure by the luggage unit width adjustment stopping means, the device controls the lifting device to move the fork downward to bring the luggage unit into contact with the adjacent object. The fork is placed in the carry-in space while being left in place to separate the fork from the bottom surface of the pallet, and the side shift device is controlled to move the fork in the direction opposite to the adjacent object to move the fork to the pallet. It is an automatic operation forklift having a fork pulling means for pulling out the fork from the luggage unit by separating the fork from the leg portion and controlling the traveling device to move the vehicle body rearward.

A sixth invention is an automatic operation forklift according to the fourth invention, wherein the luggage unit is a luggage, and the luggage is provided with a fork insertion opening into which the fork can be inserted. The fork insertion opening is surrounded by an upper surface of the opening which is the upper surface of the fork insertion opening on the upper side and an opening side surface which is the left side surface and the right side surface of the fork insertion opening on the left and right sides. The control device controls the elevating device to move the fork downward to move the luggage unit to the adjacent object after the shift hydraulic oil pressure reaches the relief pressure by the luggage unit width adjustment stopping means. The fork is placed in the carry-in space while being in contact with the above, the fork is separated from the upper surface of the opening, and the side shift device is controlled to move the fork in the direction opposite to the adjacent object to move the fork. It is an automatic operation forklift having a fork extraction means for extracting the fork from the luggage unit by separating the fork from the side surface of the opening and controlling the traveling device to move the vehicle body rearward.

According to the first invention, the luggage unit can be automatically moved to the loading space and automatically loaded into the loading space so that there is no gap between the luggage unit and the adjacent object. As a result, the carry-in space can be effectively used for carrying in the luggage unit, and since there is no gap, it is possible to prevent the luggage unit from unexpectedly moving or collapsing in the carry-in space.

According to the second invention, the contact between the adjacent object and the luggage unit can be easily determined, the side shift device can be protected, and the luggage unit can be prevented from excessively contacting the adjacent object.

According to the third invention, the contact between the adjacent object and the luggage unit can be easily determined, and the side shift device is protected and the luggage unit is moved by a predetermined time or a predetermined distance instead of being continuously moved. Excessive contact with an object can be prevented more appropriately.

According to the fourth invention, it is convenient because not only the luggage placed on the pallet but also the luggage itself can be carried.

According to the fifth invention, the pallet can be automatically moved to the loading space and automatically loaded into the loading space without a gap between the pallet and the adjacent object, and the fork can be automatically pulled out from the pallet.

According to the sixth invention, the luggage can be automatically moved to the loading space and automatically loaded into the loading space so that there is no gap between the luggage and the adjacent object, and the fork can be automatically removed from the luggage.

It is a side view of the automatic operation forklift which concerns on embodiment. It is a figure explaining the detailed structure of the side shift device. It is a figure explaining the structure of a control device and a hydraulic circuit. It is a figure which shows the state that a baggage unit is carried into an example of a carry-in space (carry-in shelf). It is the figure of the explanation when the baggage unit includes a pallet. It is a figure explaining the operation of the carry-in space recognition means. It is a figure which shows the state which the pallet (luggage unit) is inserted into the carry-in space. It is a figure which shows the contact state between a pallet (luggage unit) and an adjacent object. It is a figure which shows the state which the fork is in contact with the pallet leg part. 9 is a cross-sectional view seen from the XX direction in FIG. It is a figure which shows the state which put the pallet in the carry-in space with the pallet in contact with an adjacent object, and separated the fork from the bottom surface of the pallet. It is the figure which showed the state which moved the fork in the direction opposite to the adjacent object, and separated the fork from the pallet leg part. It is a figure which shows the relationship between the shift hydraulic oil pressure and the carry-in operation. It is a flowchart explaining the carry-in operation of the baggage unit of 1st Embodiment. It is a flowchart explaining the carry-in operation of the baggage unit of the 2nd Embodiment. It is a figure of the explanation when the luggage unit is a luggage (box type). It is a figure of the explanation when the luggage unit is a luggage (roll type).

Hereinafter, an example of the embodiment of the present application will be described with reference to FIGS. 1 to 17. In the figure in which the X-axis, the Y-axis, and the Z-axis are described, the X-axis, the Y-axis, and the Z-axis are orthogonal to each other. In the vehicle body 11 of FIG. 1, the X-axis direction is "front", the direction opposite to the X-axis direction is "rear", the Z-axis direction is "up", and the direction opposite to the Z-axis direction is "down". Further, the Y-axis direction is defined as "left", and the direction opposite to the Y-axis direction is defined as "right". In the loading shelf 50 of FIG. 4, the X-axis direction is "back", the direction opposite to the X-axis direction is "front", the Z-axis direction is "up", and the direction opposite to the Z-axis direction is "down". .. Further, the Y-axis direction is defined as "left", and the direction opposite to the Y-axis direction is defined as "right".

[Overall configuration of an automatic operation forklift according to an embodiment of the present invention (FIGS. 1 and 2)]
The overall configuration of the automatic operation forklift 10 for carrying out the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view of the automatic operation forklift 10 according to the embodiment of the present invention. FIG. 2 is a diagram illustrating a detailed configuration of the side shift device 30.

As shown in FIG. 1, the automatic driving forklift 10 includes a vehicle body 11, a traveling device 12 (for example, an electric motor) for traveling the vehicle body 11, a fork 60 arranged in front of the vehicle body 11, and a fork with respect to the vehicle body 11. It includes an elevating device 70 that elevates and lowers the 60 in the vertical direction, and a side shift device 30 that slides the fork 60 in the horizontal direction with respect to the vehicle body 11. Further, the automatic driving forklift 10 includes a tilt cylinder 72 that inclines the fork 60 in the front-rear direction, a drive wheel 14 as a front wheel provided at the front portion of the vehicle body 11, and a rear wheel provided at the rear portion of the vehicle body 11. The steering wheel 16 of the above is provided. In the description of the present embodiment, the automatic operation forklift is an electric forklift.

As shown in FIG. 2, the side shift device 30 is a shifter that can move left and right with respect to a pair of upper and lower finger bars 36A and 36B fixed to a pair of left and right lift brackets 32 and a pair of upper and lower finger bars 36A and 36B. 37 and. The shifter 37 includes a pair of upper and lower shifter bars 34A and 34B, and connecting members 35 (35R and 35L) that connect both ends of the pair of upper and lower shifter bars 34A and 34B, respectively. The shifter bars 34A and 34B are members that lock the pair of left and right forks 60R and 60L, respectively.

The side shift device 30 includes a shift cylinder 33 that moves the shifter 37 left and right with respect to the finger bars 36A and 36B. The base end of the shift cylinder 33 is connected to a bracket 38 fixed to the finger bar 36A, and the end of the rod 33A of the shift cylinder 33 is connected to one of the connecting members 35R. The shift cylinder 33 receives the supply of hydraulic oil (shift hydraulic oil) and moves the rod 33A in and out in the left-right direction.

The fork 60R (60) includes a mounting portion 62R (62) on which luggage can be placed, and a rising portion 64R (64) formed by rising from the base end of the mounting portion 62R. The fork 60L (60) has the same configuration, and includes a mounting portion 62L (62) and a rising portion 64L (64).

The carry-in location detecting means 18 is, for example, an image pickup device such as a camera, and is provided below the shifter bar 34B to detect a carry-in space which is a space for carrying in a luggage unit lifted by using a fork 60 and an elevating device 70. ..

The side shift amount detecting means 19 is, for example, an encoder, and outputs a signal corresponding to the amount of movement of the rod 33A in and out of the shift cylinder 33 in the left-right direction.

● [Hydraulic circuit configuration (Fig. 3)]
FIG. 3 is a diagram illustrating the configuration of the control device 40 and the hydraulic circuit. The control device 40 (for example, a device equipped with a CPU) includes a carry-in space recognition means 40A, a luggage unit carry-in means 40B, a luggage unit width adjustment execution means 40C, a luggage unit width adjustment stop means 40D, and a fork extraction means 40E. , A storage means 44, and the like. The storage means 44 stores information such as a luggage unit and a carry-in space in advance.

The control device 40 controls the traveling device 12 to travel the vehicle body 11. The control device 40 has a side shift that detects a signal detected by the carry-in location detecting means 18 and the side shift amount detecting means 19 and a shift hydraulic oil pressure that is the pressure of the hydraulic oil of the shift cylinder 33 in the side shift device 30. The signal detected from the pressure detecting means 33B is input.

The control device 40 controls the cargo handling control unit 80 and the cargo handling motor 81 (electric motor). Although not shown, the cargo handling control unit 80 includes a solenoid valve that controls the supply of hydraulic oil to each of the shift cylinder 33, the tilt cylinder 72, and the lift cylinder 74 provided in the lifting device 70.

The hydraulic pump 82 is driven by a cargo handling motor 81 (electric motor), and supplies hydraulic oil from the oil pan 83 to the cargo handling control unit 80.

The side shift device 30 is provided with a relief valve 33C that limits the pressure of the hydraulic oil in the side shift device to the relief pressure or less. The relief valve 33C opens when the pressure of the hydraulic oil in the side shift device exceeds the relief pressure, and returns the hydraulic oil to the oil pan 83 so as not to exceed the relief pressure.

● [Recognizing the carry-in space and carrying the luggage unit into the carry-in space (Figs. 4 to 6)]
A state in which the self-driving forklift 10 carries the luggage unit into the loading space will be described with reference to FIGS. 4 to 6.

FIG. 4 is a diagram showing a state in which the luggage unit is carried into the carry-in shelf 50 as an example of the carry-in space. The carry-in shelf 50 is divided into, for example, four carry-in compartments A1 to A4 to be carried in, and two luggage units 20A (20) are carried into each compartment.

Each of the carry-in compartments A1 to A4 (carry-in space) is adjacent to the mounting surface 56 which is the bottom surface and the object adjacent to the carry-in compartment (carry-in space) which is a wall on the right or left when viewed from the automatic operation forklift 10. It has an object 52 and an object 52, respectively. Further, on the front surface of the floor member of the loading section on the loading side, a sign (MK21 to MK28), which is a sign for detecting the loading location, is provided for each luggage unit on which the luggage unit is placed.

FIG. 5 is an explanatory diagram in the case where the luggage unit 20 includes a pallet 21A on which luggage can be placed or can be accommodated. The pallet 21A is, for example, a box-shaped pallet whose upper surface is an opening for carrying luggage. The pallet 21A is formed with a fork insertion opening 24A into which the forks 60R and 60L (60) (see FIG. 2) can be inserted. The fork insertion opening 24A is surrounded by the pallet bottom surface 22A, which is the bottom surface of the pallet, and the pallet legs 26RA1, 26RA2, 26LA1, and 26LA2, which are the legs provided on the left and right sides of the pallet bottom surface 22A.

Further, in the vicinity of the fork insertion opening 24A below the side surface of the pallet 21A on the side where the fork is inserted, a sign MK1 which is a sign for detecting the position of the luggage unit with respect to the loading location is provided.

FIG. 6 is a diagram illustrating the operation of the carry-in location detecting means 18 (see FIG. 2). The luggage unit 20A (20) shows a state in which the forks 60R and 60L are inserted into the fork insertion opening 24A, placed on the fork, and lifted.

The carry-in location detecting means 18 is, for example, an imaging device such as a camera capable of acquiring an image. The carry-in location detecting means 18 is provided at a position where the sign MK1 provided on the mounted luggage unit 20A (20) can be photographed, for example, below the shifter bar 34B shown in FIG. 2 described above.

The signs MK1 and MK21 to MK28 are signs for determining the relative position of the luggage unit 20A with respect to the luggage unit 20A and the loading compartments A1 to A4 (carrying space). Here, the markers MK1 and MK21 to MK28 can be distinguished from each other by having different shapes, colors, and the like.

● [Loading and loading of the luggage unit into the loading space by the automatic operation forklift of the first embodiment (FIGS. 7 to 14)]
The loading and loading of the luggage unit into the loading space by the automatic operation forklift of the first embodiment will be described with reference to FIGS. 7 to 14. FIG. 14 is a flowchart illustrating the loading operation of the luggage unit according to the first embodiment.

The processing procedure of the control device 40 of the automatic operation forklift will be described with reference to the flowchart of FIG. It should be noted that the loading of the luggage unit by automatic operation by the automatic operation forklift is started by the command of the operator. Hereinafter, each step of FIG. 14 will be described in detail.

● [Recognition of carry-in space]
In step S010, the control device 40 recognizes the carry-in space for carrying the luggage unit, and proceeds to the process to step S020.

The process in step S010 corresponds to the control by the carry-in space recognition means 40A (see FIG. 3).

Information such as the shape and color of the signs MK1 and MK21 to MK28, and which carry-in section (carry-in space) each sign is attached to is recorded in advance in the storage means 44. The control device 40 corresponds to the signs MK21 to MK28 based on the input information of the carry-in sections A1 to A4 (carry-in space) and the (left and right) loading locations in the carry-in section where the operator wants to carry in the luggage unit. The sign is selected as the target delivery destination sign and stored in the storage means 44.

The control device 40 recognizes the carry-in space (carry-in section) to carry in the luggage unit based on the acquired image information acquired from the carry-in place detecting means 18 and the stored information regarding the target carry-in destination sign. Specifically, for example, the control device 40 extracts a sign image from the acquired image information, and until the extracted sign image and the target carry-in destination sign match (until the carry-in space for carrying the luggage unit is reached). The traveling device 12 and the elevating device 70 are driven and moved to the (left and right) loading locations of the carry-in sections A1 to A4 (carry-in space) for carrying in the luggage unit (see FIG. 4).

● [Insert operation of luggage unit into carry-in space (carry-in section)]
In step S020, the control device 40 controls the traveling device 12 to move the vehicle body 11 (see FIG. 1) forward, and brings the lifted luggage unit 20A (20) into the loading space (carrying compartments A1 to A4). Insert and proceed to step S030.

The process in step S020 corresponds to the control by the luggage unit loading means 40B (see FIG. 3).

Hereinafter, in FIG. 6, an example will be described in which the luggage unit 20A (20) is carried into the (right) loading place of the carry-in section A2.

After moving the luggage unit 20A (20) to the carry-in section A2 to be carried in, the control device 40 has a positional relationship between the sign MK1 and the sign MK23 stored in advance in the storage means 44 based on the acquired image information. The traveling device 12 and the elevating device 70 are driven so as to be.

For example, the distance between the position of the center of the width along the Y direction of the marker MK1 and the position of the center of the width along the Z direction are stored in advance in the storage means 44. The luggage unit 20A (20) is carried into the (right) loading place of the carry-in section A2 so as to reach a predetermined distance. In this case, in order to prevent the luggage unit 20A (20) from coming into contact with the mounting surface 56 or the adjacent object 52, the luggage unit 20A (20) has a gap and a mounting surface of the first predetermined distance to the adjacent object 52. A gap of a second predetermined distance is provided for 56, and the 56 is inserted into the (right) mounting location of the carry-in section A2.

In step S030, the control device 40 controls the side shift device 30 to bring the luggage unit 20A (20) inserted into the carry-in space (carry-in section A2) closer to the adjacent object 52 together with the forks 60 (60R, 60L). The operation of the side shift device 30 is started so as to move to step S040, and the process proceeds to step S040.

In step S040, the control device 40 detects the shift hydraulic oil pressure by the side shift pressure detecting means 33B (see FIG. 3), and proceeds to step S050.

In step S050, when the control device 40 determines that the shift hydraulic oil pressure has reached the relief pressure (Yes), the process proceeds to step S060, and when it is determined that the shift hydraulic oil pressure has not reached the relief pressure. In (No), the process proceeds to step S040.

In step S060, the control device 40 stops the operation of the side shift device 30 and proceeds to step S070.

The processes from steps S030 to S050 correspond to the control in the luggage unit width adjusting execution means 40C (see FIG. 3). Further, the processes from steps S030 to S060 correspond to the control in the luggage unit width adjusting stop means 40D (see FIG. 3).

● [Judging the contact state between the luggage unit and the adjacent object (Figs. 7 to 9, 13)]
Hereinafter, with reference to FIGS. 7 to 9 and 13, the determination of the contact state between the luggage unit and the adjacent object according to the rising state of the shift hydraulic oil pressure in the control of the luggage unit width adjusting executing means 40C will be described.

FIG. 7 is a view of the luggage unit inserted into the carry-in space (carry-in section) shown in FIG. 6 as viewed from above. The luggage unit 20A (20) is inserted with a gap of a first predetermined distance L1 from the adjacent object 52. The description of the mounting surface 56 and the like is omitted for the sake of simplicity.

When the shift hydraulic oil pressure is constant, the control device 40 determines that the load unit 20A (20) is moved at a constant speed with respect to the adjacent object 52 (width alignment section AR1).

When the shift hydraulic oil pressure rises, the control device 40 determines that the luggage unit 20A (20) has come into contact with the adjacent object 52 (see FIG. 8) (contact section AR2). The boundary between the width-aligned section AR1 and the contact section AR2 corresponds to the time when an increase in the shift hydraulic oil pressure is detected.

The control device 40 has a fork 60 with respect to the luggage unit 20A (20) in a state where the luggage unit 20A (20) is in contact with the adjacent object 52 when the shift hydraulic oil pressure stops rising and then falls and is constant. Is in a slipping state (fork slip section AR3).

When the shift hydraulic oil pressure rises in the fork slip section AR3, the control device 40 determines that the fork 60R is in contact with the pallet legs 26RA1 and 26RA2 (see FIG. 9) (fork contact section AR4). When the control device 40 determines that it is the fork contact section AR4, it determines that the luggage unit 20A (20) has been placed in the (right) loading place (carrying space) of the carrying-in section A2.

● [Fork pulling out operation when it is determined that the contact is made (FIGS. 10 to 13)]
FIG. 10 is a cross-sectional view of FIG. 9 as viewed from the XX direction. The luggage unit 20A (20) is inserted with a gap of a second predetermined distance L2 between the bottom surface of the pallet legs 26RA2 and 26LA2 facing the mounting surface 56 and the mounting surface 56.

In step S070, the control device 40 controls the elevating device 70 to move the forks 60 (60R, 60L) downward, and keeps the luggage unit 20A (20) in contact with the adjacent object 52 in the carry-in space (carry-in section). It is placed on the mounting surface 56 in A2) (see FIG. 11), and the process proceeds to step S080.

In step S080, the control device 40 controls the side shift device 30 to move the fork 60 (60R, 60L) in the direction opposite to the adjacent object 52 to separate the fork 60 from the pallet leg 26RA2 (FIG. 12). (See) (Fork separation section AR5), the process proceeds to step S090.

In step S090, the control device 40 controls the traveling device 12 to move the vehicle body 11 rearward, pulls out the fork 60 from the luggage unit 20A (20), and ends the process.

The processes in steps S070 to S090 correspond to the control in the fork extraction means 40E (see FIG. 3).

● [Loading and loading of the luggage unit into the loading space by the automatic operation forklift of the second embodiment (Fig. 15)]
The automatic operation forklift of the second embodiment is different from the automatic operation forklift of the first embodiment in that it has the luggage unit width adjustment stop means 40Da instead of the luggage unit width adjustment stop means 40D. Hereinafter, the different steps of FIG. 15 will be described in detail.

If the control device 40 determines in step S050A that the shift hydraulic oil pressure has increased (Yes) (detection of an increase in the shift hydraulic oil pressure), the process proceeds to step S060A, and the shift hydraulic oil pressure has increased. If it is determined that there is no such condition (No), the process proceeds to step S040.

The control device 40 determines that the shift hydraulic oil pressure has increased when the difference between the average value of the shift hydraulic oil pressure and the shift hydraulic oil pressure acquired this time is larger than the determination value. The shift hydraulic oil pressure average value is calculated based on, for example, the shift hydraulic oil pressure acquired and stored in the storage means 44 for a predetermined period or a predetermined number of times. The determination value is a value for determining that the shift hydraulic oil pressure obtained in an experiment or the like has increased, and is stored in advance in the storage means 44.

In step S060A, the control device 40 stops the operation of the side shift device 30 after continuing the movement of the luggage unit for the first predetermined time, and proceeds to the process to step S070A. The first predetermined time is a time for continuously operating the side shift device 30 obtained in an experiment or the like, and is stored in advance in the storage means 44. The first predetermined time is shorter than the second predetermined time described later, and is, for example, about several seconds.

In step S070A, when the control device 40 determines that the shift hydraulic oil pressure has reached the relief pressure (Yes), the process proceeds to step S070 and determines that the shift hydraulic oil pressure has not reached the relief pressure. In (No), the process proceeds to step S080A.

In step S080A, the control device 40 stops the operation of the side shift device 30 (corresponding to the minute side movement operation) after continuing the movement of the luggage unit for the second predetermined time, and proceeds to the process to step S070A. The second predetermined time is a time for continuously operating the side shift device 30 obtained in an experiment or the like, and is stored in advance in the storage means 44. The second predetermined time is, for example, about several seconds.

In step S080A, the control device 40 continued to move the luggage unit by a predetermined distance obtained and set in advance by an experiment or the like based on the detection signal of the side shift amount detecting means 19 instead of the second predetermined time. The operation of the side shift device 30 may be stopped later (corresponding to a minute side movement operation).

The processes in steps S030 to S060 and S050A to S080A correspond to the control in the luggage unit width adjusting stop means 40Da (see FIG. 3).

● [Another form of luggage unit (Figs. 16 and 17)]
In the examples of the first embodiment and the second embodiment, the example in which the pallet is included as the luggage unit has been described, but the above-mentioned effect can be obtained even when the pallet is not included. FIG. 16 is an explanatory diagram when the luggage unit (luggage unit 20B) is a luggage (box type). While the luggage unit 20A of FIG. 5 includes the pallet 21A, the luggage 21B itself has a function as a pallet instead of the pallet.

The luggage 21B is, for example, a box-type luggage. The luggage 21B is formed with a fork insertion opening 24B into which the forks 60R and 60L (60) (see FIG. 2) can be inserted. The fork insertion opening 24B is surrounded by an opening upper surface 22B which is the upper surface of the fork insertion opening 24B on the upper side, and an opening side surface 26B which is the left side surface 26LB and the right side surface 26RB of the fork insertion opening 24B on the left and right sides. ..

FIG. 17 is an explanatory diagram when the luggage unit (luggage unit 20C) is a luggage (roll type). While the luggage unit 20A of FIG. 5 includes the pallet 21A, the luggage unit 20C itself has a function as a pallet instead of the pallet (when the pallet is not included).

The luggage unit 20C is formed with a fork insertion opening 24C (roll center hole) into which the forks 60R and 60L (60) (see FIG. 2) can be inserted. The fork insertion opening 24C is surrounded by an opening upper surface 22C which is the upper surface of the fork insertion opening 24C on the upper side, and an opening side surface 26C which is the left side surface 26LC and the right side surface 26RC of the fork insertion opening 24C on the left and right sides. ..
● [Effect of the present application]

As described above, the luggage unit can be automatically moved to the loading space and automatically loaded into the loading space so that there is no gap between the luggage unit and the adjacent object. As a result, the carry-in space can be effectively used for carrying in the luggage unit, and since there is no gap, it is possible to prevent the luggage unit from unexpectedly moving or collapsing in the carry-in space.

The automatic operation forklift of the present invention is not limited to the configuration, structure, etc. described in the present embodiment, and various changes, additions, and deletions can be made without changing the gist of the present invention.

The luggage unit is not limited to the shape described in this embodiment, and may have a fork insertion opening for inserting a fork surrounded by an upper surface of the opening and side surfaces of the left and right openings.

In the description of the present embodiment, the example in which the side shift device 30 has the shift cylinder 33 has been described, but a hydraulic motor or the like may be used.

10 Self-driving forklift 11 Body 12 Traveling device 14 Drive wheels (front wheels)
16 Steering wheel (rear wheel)
18 Carry-in location detecting means 19 Side shift amount detecting means 20, 20A Luggage unit 20B, 20C Luggage unit 21A Pallet 22A Pallet bottom surface 24A, 24B, 24C Fork insertion opening 26RA1, 26RA2 Pallet leg 26LA1, 26LA2 Pallet leg 26C opening Side 26LC Left side 26RC Right side 30 Side shift device 32 Lift bracket 33 Shift cylinder 33A Rod 33B Side shift pressure detection means 33C Relief valve 34A, 34B Shifter bar 35, 35R, 35L Connecting member 37 Shifter 40 Control device 40A Carry-in space recognition means 40B Luggage unit carry-in means 40C Luggage unit width adjustment execution means 40D, 40Da Luggage unit width adjustment stop means 40E Fork extraction means 44 Storage means 50 Carry-in shelf 52 Adjacent object 56 Mounting surface A1, A2, A3, A4 Carry-in space (carry-in space) )
60, 60R, 60L Fork 62, 62R, 62L Mounting part 64, 64R, 64L Rising part 70 Lifting device 72 Tilt cylinder 80 Cargo handling control part 81 Cargo handling motor (electric motor)
82 Hydraulic pump 83 Oil pan MK1, MK21-MK28 Marked AR1 Width adjustment section AR2 Contact section AR3 Fork slip section AR4 Fork contact section AR5 Fork separation section

Claims (6)

With the car body
The traveling device for traveling the vehicle body and
The fork placed in front of the car body and
An elevating device that raises and lowers the fork in the vertical direction with respect to the vehicle body,
A side shift device that slides the fork in the left-right direction with respect to the vehicle body,
At least a hydraulic pump that supplies hydraulic oil to the side shift device,
An automatic operation forklift having the traveling device, the elevating device, the side shift device, and a control device for controlling the hydraulic pump.
A side shift pressure detecting means for detecting the shift hydraulic oil pressure, which is the pressure of the hydraulic oil in the side shift device, and
A loading location detecting means for detecting a loading space, which is a space for loading a luggage unit lifted by using the fork and the lifting device.
With
In the carry-in space, there is an adjacent object which is an object adjacent to the carry-in space on the right or left when viewed from the automatic operation forklift.
The control device is
A carry-in space recognizing means that recognizes the carry-in space in which the lifted luggage unit should be carried in by using the carry-in place detecting means.
A luggage unit loading means that controls the traveling device to move the vehicle body forward and inserts the lifted luggage unit into the loading space.
By controlling the side shift device and moving the luggage unit inserted into the carry-in space in a direction approaching the adjacent object together with the fork, the shift hydraulic oil pressure is detected, and the detected shift hydraulic oil pressure is used. A luggage unit width adjusting execution means for determining the contact state between the luggage unit and the adjacent object according to the ascending state, and
Have,
Self-driving forklift. The self-driving forklift according to claim 1.
The side shift device is provided with a relief valve that limits the pressure of the hydraulic oil in the side shift device to the relief pressure or less.
The control device is
When the shift hydraulic oil pressure detected while moving the luggage unit by the luggage unit width adjusting execution means reaches the relief pressure, it is determined that the luggage unit is in contact with the adjacent object. It has a luggage unit width adjustment stop means for stopping the operation of the side shift device.
Self-driving forklift. The self-driving forklift according to claim 1.
The side shift device is provided with a relief valve that limits the pressure of the hydraulic oil in the side shift device to the relief pressure or less.
The control device is
From the time when the increase in the shift hydraulic oil pressure detected while moving the luggage unit is detected by the luggage unit width adjusting executing means, the movement of the luggage unit is continued for a predetermined time or a predetermined distance, and then the side The minute side movement operation for stopping the operation of the shift device is repeated until the shift hydraulic oil pressure reaches the relief pressure.
When the shift hydraulic oil pressure reaches the relief pressure, the luggage unit has a luggage unit width adjustment stopping means for determining that the luggage unit is in contact with the adjacent object.
Self-driving forklift. The self-driving forklift according to claim 2 or 3.
The luggage unit
A pallet on which luggage can be placed or accommodated, or the pallet and luggage, or luggage.
Self-driving forklift. The self-driving forklift according to claim 4.
If the luggage unit includes the pallet
The pallet is formed with a fork insertion opening into which the fork can be inserted.
The fork insertion opening is surrounded by a pallet bottom surface, which is the bottom surface of the pallet, on the upper side, and pallet legs, which are legs provided on the left and right sides of the pallet bottom surface, on the left and right sides.
The control device is
After the shift hydraulic oil pressure reaches the relief pressure by the luggage unit width adjusting stop means, the lifting device is controlled to move the fork downward to keep the luggage unit in contact with the adjacent object. The fork is placed in the carry-in space to separate the fork from the bottom surface of the pallet, the side shift device is controlled to move the fork in the direction opposite to the adjacent object, and the fork is moved from the pallet leg. It has a fork withdrawing means for pulling out the fork from the luggage unit by separating the traveling device and moving the vehicle body rearward.
Self-driving forklift. The self-driving forklift according to claim 4.
The luggage unit is a luggage, and the luggage is provided with a fork insertion opening into which the fork can be inserted.
The fork insertion opening is surrounded by an upper surface of the opening which is the upper surface of the fork insertion opening on the upper side and an opening side surface which is the left side surface and the right side surface of the fork insertion opening on the left and right sides.
The control device is
After the shift hydraulic oil pressure reaches the relief pressure by the luggage unit width adjusting stop means, the lifting device is controlled to move the fork downward to keep the luggage unit in contact with the adjacent object. The fork is placed in the carry-in space to separate the fork from the upper surface of the opening, and the side shift device is controlled to move the fork in the direction opposite to the adjacent object to separate the fork from the side surface of the opening. The vehicle has a fork extraction means for controlling the traveling device to move the vehicle body rearward and extracting the fork from the luggage unit.
Self-driving forklift.

Images