JP2022102028A - Carrier - Google Patents

Abstract

To provide a carrier allowed to seek an origin of an arm of an arm-type transfer device mounted on the carrier, by a simple configuration.SOLUTION: A carrier 3 includes a one-moving section 83 that moves one pair of side arms 33 until one of one pair of load-protrusion sensors 73 detects at one side in a transfer direction, a one-position storage section 85 that stores a value of an arm moving-amount detecting sensor 71 at a time when the one of the one pair of load-protrusion sensors 73 detected the one pair of side arms 33, an other-moving section 87 that moves the one pair of side arms 33 until the other of the one pair of load-protrusion sensors 73 detects at the other side in the transfer direction, a moving-amount grasping section 89 that grasps a between-detection-positions moving amount from a value of the arm moving-amount detecting sensor 71 at a time when the other of the one pair of load-protrusion sensors 73 detected the one pair of side arms 33 and a value of the arm moving-amount detecting sensor 71 stored in the one-position storage section 85, a half-movement-amount moving section 91 that moves the one pair of side arms 33 by a half amount of the between-detection-positions moving amount in one direction, and a center-position storage section 93 that stores as a center position a value of the arm moving-amount detecting sensor 71 at a time when it moved a half.SELECTED DRAWING: Figure 7

Description

The present invention relates to a transport vehicle, and more particularly to a transport vehicle having a transfer device that expands and contracts an arm for transferring a load.

Conventionally, there is a side arm type transfer device provided with a pair of side arms. In the side arm type transfer device, as a loading operation, a pair of side arms are extended on both sides placed on a shelf or the like, and both sides of the load are hooked by the pair of side arms, or by the pair of side arms. Is sandwiched, and then the side arm is retracted to transfer the load to the side arm type transfer device.
A slide fork type transfer device is known to include a position detecting device for detecting the position of the slide fork (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 7-187315

In order to set the origin of the slide arm of a conventional rear hook transfer machine, for example, an origin sensor that detects the origin position and a slide area sensor that determines whether the slide arm is on the left or right (one pair on each side). Was needed.
Normally, the controller cannot grasp the current position of the slide arm immediately after the power is turned on. Therefore, the controller first checks which pair of the left and right slide area sensors is ON, and then moves the slide arm toward the origin (center direction) to the position where the origin sensor reacts to position the origin. It is carried out.

As mentioned above, the conventional transfer device uses three dedicated sensors (origin sensor and slide area sensor (one pair each on the left and right)) only for positioning the slide origin, and the cost of the sensor itself and wiring The cost of the material and the relay board on the wiring path was high.

An object of the present invention is to set the origin of an arm of an arm-type transfer device loaded on a transport vehicle by a simple configuration.

Hereinafter, a plurality of aspects will be described as means for solving the problem. These aspects can be arbitrarily combined as needed.

The transport vehicle according to the first aspect of the present invention includes a transport vehicle main body, an arm type transfer device, an arm movement amount detection sensor, a pair of load-loading sensors, and a controller.
The arm-type transfer device is a device for transferring a load between a carrier body and another device, and has an arm and an advancing / retreating drive motor for advancing / retreating the arm in both the transfer directions. ing. The arm-type transfer device is mounted on the main body of the transport vehicle. The "arm" here is a member that extends in the transfer direction and moves in the transfer direction to move the load during the transfer operation.
The arm movement amount detection sensor detects the advance / retreat movement amount of the arm.
The pair of load sensors are arranged on both sides of the transfer direction end of the carrier body and can detect the load and the arm.
The controller grasps the center position of the arm in the transfer direction.
The controller has a non-detection confirmation means, one moving means, one position storage means, the other moving means, a moving amount grasping means, a half moving amount moving means, and a central position storage means.
The non-detection confirmation means confirms that the arm is not detected by the pair of load sensors.
On the other hand, the moving means moves the arm in one of the transfer directions until one of the pair of load-bearing sensors detects it.
On the other hand, the position storage means stores the value of the arm movement amount detection sensor when one of the pair of load sensors detects the arm. In addition, "remembering the value of the arm movement amount detection sensor" includes presetting the value of the arm movement amount detection sensor (that is, setting it to 0).
The other moving means moves the arm to the other in the transfer direction until the other of the pair of load sensors detects it.
The movement amount grasping means moves between detection positions from the value of the arm movement amount detection sensor when the other of the pair of load sensors detects the arm and the value of the arm movement amount detection sensor stored in one of the position storage means. Grasp the amount.
Half-movement amount The moving means moves the arm to one side by half the amount of movement between detection positions.
The center position storage means stores the value of the arm movement amount detection sensor when the arm is moved halfway as the center position.

In this transport vehicle, for example, the origin positioning in the transfer direction immediately after the power is turned on is performed by, for example, the following procedure.
First, it is confirmed that the arm is not detected by the pair of load sensors.
Next, the arm is moved until one of the pair of load sensors detects in one of the transfer directions.
Next, the value of the arm movement amount detection sensor when one of the pair of load-bearing sensors detects the arm is stored.
The arm is then moved to the other in the transfer direction until the other of the pair of load sensors detects it.
Next, the movement amount between the detection positions is grasped from the value of the arm movement amount detection sensor when the other of the pair of load-bearing sensors detects the arm and the value of the arm movement amount detection sensor stored in the one-position storage means. Will be done.
Next, the arm is moved to one side by half the amount of movement between the detection positions.
Next, the value of the arm movement amount detection sensor when the arm is moved halfway is stored as the center position.
In this transport vehicle, the center position (origin) of the side arm in the transfer direction can be grasped by using the load sensor, and it is not necessary to provide a dedicated sensor. That is, the origin sensor and the slide area sensor can be eliminated, and the cost of the airframe can be reduced. In addition, by reducing the number of sensors, adjustment man-hours and inspection items before shipment can be reduced, and the total cost can be reduced.

The arm is a pair of side arms, and may be a rear hook type side arm having a side arm main body and hooks rotatably provided at both ends of the side arm main body in the transfer direction.
The load sensor may be provided at a position to detect a portion of the pair of side arms below the hook.
In this carrier, the opening and closing of the hook does not affect the detection result.

The controller may further have an arm advance direction detecting means for determining the direction in which the arm is advancing based on the detection result of the load sensor.
In this carrier, the load sensor can be used to detect the direction in which the arm is advancing. This makes it possible to accurately determine the rotation direction of the motor when returning the arm. In addition, one sensor makes it possible to detect load squeeze, set the origin, and detect the arm advance direction.

The controller may further have an object determination means for determining whether the load is protruding or the arm is advanced when the load sensor detects an object.
With this carrier, the detection result of the load sensor can be accurately grasped.

In the transport vehicle according to the present invention, the origin of the arm of the arm-type transfer device loaded on the transport vehicle can be set by a simple configuration.

A side view of the automated warehouse of the first embodiment. Schematic floor plan of an automated warehouse. Perspective view of the carrier. Schematic side view of the carrier. A functional block diagram showing the control configuration of an automated warehouse. The functional block diagram which shows the control composition of a transport vehicle. A flowchart showing the transfer direction origin position setting control operation. Schematic diagram showing an example of the transfer direction position of a pair of side arms during the transfer direction origin position setting control operation. The schematic diagram which shows an example of the transfer direction position of a pair of side arms in the transfer direction origin position setting control operation. Schematic diagram showing an example of the transfer direction position of a pair of side arms during the transfer direction origin position setting control operation. The schematic diagram which shows an example of the transfer direction position of a pair of side arms in the transfer direction origin position setting control operation. A flowchart showing a detection object confirmation control operation. The schematic diagram which shows an example of the transfer direction position of a pair of side arms during a detection object confirmation control operation. The schematic diagram which shows an example of the transfer direction position of a pair of side arms during a detection object confirmation control operation. The schematic diagram which shows an example of the transfer direction position of a pair of side arms during a detection object confirmation control operation. The schematic diagram which shows an example of the transfer direction position of a pair of side arms during a detection object confirmation control operation.

1. 1. First Embodiment (1) Description of the Automated Warehouse as a whole The automated warehouse 100 according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view of the automated warehouse of the first embodiment. FIG. 2 is a schematic plan view of an automated warehouse. In the following description, the left-right direction of FIG. 1 is referred to as a first direction (arrow Y), the paper depth direction of FIG. 1 is referred to as a second direction (arrow X), and the vertical direction of FIG. 1 is a vertical direction (arrow Z). Is.
The automated warehouse 100 has a plurality of shelves 21 and is a system capable of storing the luggage W (FIG. 4) in each shelf 21 or discharging the luggage W stored in each shelf 21.
The automated warehouse 100 includes a rack 1, a plurality of transport vehicles 3, a warehousing station 7, a warehousing station 9, a warehousing elevating device 11, and a warehousing elevating device 13.

The pair of racks 1 and the transport vehicle 3 constitute a unit 4, and the automated warehouse 100 has a plurality of units 4. The number of the unit 4 and the like may be represented by a "system", and the unit 4 is a kind of automated warehouse unit.
In the unit 4, the luggage W is carried into the warehousing station 7 from the carry-in conveyor (not shown). Further, in the unit 4, the luggage W is carried out from the delivery station 9 to a carry-out conveyor (not shown). The destination of the carry-out conveyor is a sorting area where luggage W is collected for each shipping destination and shipped by truck or the like, or a picking area where products are picked from the luggage W.

(2) Rack Each shelf 21 of the rack 1 extends long in the first direction and has a plurality of frontages 22. Each frontage 22 is a unit of a shelf on which the luggage W is placed, and has the same length in the first direction. The frontage 22 is located on the frontmost side in the traveling direction (in the first direction, the side of the warehousing station 7 and the warehousing station 9 described later) from the frontage 22a on the first end side to the innermost side in the traveling direction (described later in the first direction). It has a frontage 22b on the second end side of the warehousing station 7 and the warehousing station 9).
The shelf stages 21 are arranged on both sides of the transport vehicle 3 and the rail 5 (described later) in the second direction.

A plurality of luggage Ws can be stored in each frontage 22. In addition, each of the frontages 22 may be a separate body or may be integrally formed. That is, a plurality of frontages 22 may be formed on the shelf 21 by dividing one shelf board constituting the shelf 21.
The luggage W is a case, a tray, a cardboard, a folding container, or the like, and stores products.

(3) Transport vehicle The plurality of transport vehicles 3 can each travel along the first direction at the corresponding heights of the shelf stages 21. Specifically, a rail 5 extending linearly in the first direction is laid at a height corresponding to each shelf stage 21, and the transport vehicle 3 can reciprocate on the rail 5 in the first direction. That is, the transport vehicle 3 is a shuttle carriage.

(4) Transfer device The transport vehicle 3 has a transfer device 15. The transfer device 15 is a device for transferring the luggage W in the second direction between the transport vehicle main body 3a and the corresponding frontage 22 of the shelf stage 21. The transfer device 15 is a rear hook type side arm, and hooks (described later) to the rear end, which is the rear end in the direction in which the luggage W moves, is hooked and taken in and out.
The transport vehicle 3 has a traveling motor 41 (FIG. 6).

The transfer device 15 will be further described with reference to FIGS. 3 and 4. FIG. 3 is a perspective view of the transfer device. FIG. 4 is a schematic side view of the transfer device.
The transfer device 15 has a main body 31 and a pair of side arms 33. The main body portion 31 is a stationary fixing member fixed to or integrally formed with the transport vehicle main body 3a, has a mounting base 37 for the luggage W in the transfer device 15, and a pair of side arms 33 will be described later. It is a member that moves relative to each other. The main body 31 may have a belt conveyor.

(4-1) Side Arms The pair of side arms 33 are members that extend in the second direction and move in the second direction with respect to the main body portion 31 to move the luggage W during the transfer operation. The pair of side arms 33 are arranged at a predetermined distance in the first direction.
The transfer device 15 has a transfer motor 43 (an example of an advance / retreat drive motor, FIG. 6) for advancing and retreating a pair of side arms 33 in both directions, and a power transmission mechanism (not shown). ing.

Each of the pair of side arms 33 has a side arm main body 33a and hooks 33b rotatably provided at both ends of the side arm main body 33a in the second direction.
Each of the hooks 33b rotates about a rotation axis parallel to the second direction, so that the hooks 33b have an engagement position that protrudes inward in the first direction with respect to the space inside the pair of side arms 33. It is rotatable to and from a non-engaged position that projects upward and exits the space. The hook 33b is moved between the engaged position and the non-engaged position by the hook motor 45 (FIG. 6).

(4-2) Open / Close Drive Mechanism The transfer device 15 has an open / close motor 47 (FIG. 6) and an open / close mechanism (not shown). The opening / closing mechanism is a known technique, and is a mechanism for approaching and separating one or both of a pair of side arms 33 from each other. As a result, the transfer device 15 can transfer the luggage W having different sizes by changing the distance between the pair of side arms 33.

(4-3) Arm movement amount detection sensor The transfer device 15 has an arm movement amount detection sensor 71 (FIG. 6). The arm movement amount detection sensor 71 detects the advance / retreat movement amount of the pair of side arms 33. Specifically, the arm movement amount detection sensor 71 is an encoder attached to the transfer motor 43. The arm movement amount detection sensor may be an encoder attached to the pulley of the drive belt.

(4-4) The load-fitting sensor transfer device 15 has a first load-fitting sensor 73 and a second load-fitting sensor 75. The first load sensor 73 and the second load sensor 75 are sensors that detect that the load W protrudes from the mounting table 37 in the second direction (load collapse, pop-out). In this embodiment, the first load sensor 73 and the second load sensor 75 are arranged on both sides of the second direction end portion of the transport vehicle main body 3a, and can detect the load W and the pair of side arms 33. There is (described later). Specifically, the first load-fitting sensor 73 is arranged at one second-direction end of the transport vehicle body 3A, and the second load-fitting sensor 75 is located at the other second-direction end of the transport vehicle body 3A. It is arranged (see FIG. 8).
The first load-fitting sensor 73 is a transmissive photoelectric sensor, and includes a floodlight 73a that emits light and a light receiver 73b that detects light emitted from the floodlight 73a. That is, the floodlight 73a and the light receiver 73b are paired one by one. The floodlight 73a emits light parallel to the first direction. That is, when the light receiver 73b does not receive the light emitted from the floodlight 73a, it means that an object exists between the floodlight 73a and the light receiver 73b. Further, when the light receiver 73b receives the light emitted from the corresponding floodlight 73a, it means that no object exists between the floodlight 73a and the light receiver 73b.
Similarly, the second load-fitting sensor 75 includes a floodlight 75a that emits light and a light receiver 75b that detects the light emitted from the floodlight 75a.
As shown in FIG. 4, the first load-fitting sensor 73 and the second load-fitting sensor 75 are provided at positions below the hook 33b of the pair of side arms 33. More specifically, the first load sensor 73 and the second load sensor 75 are provided below the lower end of the hook 33b and above the lower end of the pair of side arms 33. Therefore, the opening and closing of the hook 33b does not affect the detection result.

(5) Elevating device The warehousing elevating device 11 is arranged between the rack 1 and the warehousing station 7, and has an elevating mechanism (not shown) and an elevating table 53. The elevating mechanism is a known technique, and elevates the elevating table 53 in the vertical direction along the support column 55. The lift 53 has a lift conveyor 57 for transferring the luggage W between the warehousing station 7 and the shelf 21.
Further, each shelf stage 21 is provided with a warehousing conveyor 23 at a portion adjacent to the warehousing elevating device 11 in the first direction. Therefore, the baggage W is delivered by operating both conveyors in conjunction with each other. The warehousing conveyor 23 functions as a buffer conveyor for storing luggage.

The warehousing elevating device 13 is provided on the same side as the warehousing elevating device 11 in the first direction with respect to the rack 1. The delivery elevating device 13 is arranged between the rack 1 and the delivery station 9, and has an elevating mechanism (not shown) and an elevating table 63. The elevating mechanism is a known technique, and elevates the elevating table 63 in the vertical direction along a support column (not shown). The lift 63 has a lift conveyor 67 for transferring the load W between the delivery station 9 and the shelf 21.
Further, each shelf stage 21 is provided with a warehousing conveyor 25 at a portion adjacent to the warehousing elevating device 13 in the first direction. Therefore, the baggage W is delivered by operating both conveyors in conjunction with each other. The delivery conveyor 25 functions as a buffer conveyor for storing luggage.

(6) Warehousing station and warehousing station The warehousing station 7 is arranged on one side of the rack 1 in the first direction. The warehousing station 7 receives the luggage W to be stored in the rack 1 from the carry-in conveyor (not shown). The warehousing station 7 has a station conveyor 7a.

The warehousing station 9 is arranged on the same side as the warehousing station 7 in the first direction with respect to the rack 1. The delivery station 9 receives the package W taken out from the rack 1. The warehousing station 7 has a station conveyor 9a.
The positions and numbers of the warehousing station and the warehousing station are not particularly limited.

(7) Control Configuration of Automated Warehouse 100 The control configuration of the automated warehouse 100 will be described with reference to FIG. FIG. 5 is a functional block diagram showing a control configuration of an automated warehouse.
As shown in FIG. 5, the automated warehouse 100 has a controller 51.
The controller 51 is a device that manages the storage and loading / unloading of the luggage W in the automated warehouse 100. The controller 51 is a computer having a processor (for example, a CPU), a storage device (for example, ROM, RAM, HDD, SSD, etc.) and various interfaces (for example, an A / D converter, a D / A converter, a communication interface, etc.). It is a system.
The controller 51 is a ground controller, receives commands such as warehousing and warehousing from a higher-level controller (not shown), and reports an execution result. The controller 51 may be realized by a plurality of computers distributed and arranged for each unit 4.

The controller 51 may perform control operations in various places by executing a program stored in the storage unit (corresponding to a part or all of the storage area of the storage device), or the controller 51 includes a part of the control operations. It may be realized by the hardware that is used.
The controller 51 is connected to a warehousing elevating device 11, a warehousing elevating device 13, a warehousing station 7, a warehousing station 9, a plurality of transport vehicles 3, a plurality of warehousing conveyors 23, and a plurality of warehousing conveyors 25. The controller 51 can control these devices.

Although not shown, the controller 51 is connected to a sensor that detects the size, shape, and position of the luggage W, a sensor and a switch for detecting the state of each device, and an information input device.

(8) Control configuration of the transport vehicle The control configuration of the transport vehicle 3 will be described with reference to FIG. FIG. 6 is a functional block diagram showing a control configuration of the transport vehicle.
In order to grasp the center position of the pair of side arms 33 in the transfer direction, the controller 51 grasps the movement amount of the non-detection confirmation unit 81, the one moving unit 83, the one position storage unit 85, and the other moving unit 87. It has a unit 89, a half movement amount movement unit 91, and a center position storage unit 93.

The non-detection confirmation unit 81 confirms that the pair of side arms 33 are not detected by the first load sensor 73 and the second load sensor 75.
On the other hand, the moving unit 83 moves the pair of side arms 33 in one of the transfer directions until one of the first load sensor 73 and the second load sensor 75 detects it.

On the other hand, the position storage unit 85 stores the value of the arm movement amount detection sensor 71 when one of the first load sensor 73 and the second load sensor 75 detects the pair of side arms 33. Specifically, the value of the encoder of the transfer motor 43 is stored. In addition, "remembering the value of the arm movement amount detection sensor" includes presetting the value of the arm movement amount detection sensor (that is, setting it to 0) as a modification. In this case, the value of the encoder is set to 0 and the counting is newly started.
The other moving unit 87 moves the pair of side arms 33 to the other in the transfer direction until the other of the first load sensor 73 and the second load sensor 75 is detected.

The movement amount grasping unit 89 uses the value of the arm movement amount detection sensor 71 and the position storage unit 85 when the other of the first load sensor 73 and the second load sensor 75 detects the pair of side arms 33. The movement amount between detection positions is grasped from the stored value of the arm movement amount detection sensor 71. Specifically, the movement amount grasping unit 89 moves between the detection positions by subtracting the encoder value when the pair of sidearms 33 is detected on the other side from the encoder value when the pair of sidearms 33 is detected on the other side. Calculate the amount. In the modified example in which the value of the arm movement amount detection sensor is preset (that is, set to 0), the count value (encoder value) itself after resetting to 0 is grasped as the movement amount between the detection positions.

The half movement amount moving unit 91 moves the pair of side arms 33 to one side by half the amount of movement between the detection positions.
The center position storage unit 93 stores the value of the arm movement amount detection sensor 71 when the arm is moved halfway as the center position.

The controller 51 further has an arm advance direction detection unit 95. The arm advance direction detection unit 95 determines the direction in which the pair of side arms 33 are advanced based on the detection results of the first load sensor 73 and the second load sensor 75. Therefore, the direction in which the pair of side arms 33 are advancing can also be detected by using the first load sensor 73 and the second load sensor 75.

The controller 51 further has an object determination unit 97. When the first load sensor 73 and the second load sensor 75 detect an object, the object determination unit 97 determines whether the load W is protruding or the pair of side arms 33 is advanced. .. Therefore, the detection results of the first load sensor 73 and the second load sensor 75 can be accurately grasped.

(9) Storage operation and delivery operation in the automated warehouse (9-1) Storage operation First, the lifting platform conveyor 57 of the lifting platform 53 of the warehousing elevating device 11 moves to the position of the station conveyor 7a of the warehousing station 7.

Next, the station conveyor 7a conveys the luggage W to the elevating platform conveyor 57 of the warehousing elevating device 11.
Next, the elevating table 53 moves up and down to a position corresponding to the shelf stage 21 determined to store the luggage W.
Next, the lift conveyor 57 of the lift 53 conveys the luggage W to the warehousing conveyor 23.

Next, the transport vehicle 3 moves to the warehousing conveyor 23, and the transfer device 15 loads the cargo W.
Finally, the transport vehicle 3 travels in the first direction, and the transfer device 15 lowers the luggage W to the target frontage 22 of the shelf stage 21.

(9-2) Outgoing operation First, the transport vehicle 3 travels in the first direction and travels to the front of the target frontage 22 of the luggage W on the shelf stage 21, and the transfer device 15 loads the luggage W.
Next, the transport vehicle 3 moves to the delivery conveyor 25, and the transfer device 15 lowers the cargo W.
Next, the elevating table 63 of the elevating device 13 for unloading moves up and down to a position corresponding to the shelf stage 21 determined to leave the luggage W.

Next, the delivery conveyor 25 conveys the luggage W to the lift conveyor 67 of the lift 63 of the delivery lifting device 13.
Next, the elevating table 63 moves up and down to the position of the station conveyor 9a of the delivery station 9.
Finally, the lift conveyor 67 of the lift 63 conveys the luggage W to the station conveyor 9a of the delivery station 9.

(10) Transfer Direction Origin Positioning Control Operation The transfer direction origin positioning control operation will be described with reference to FIGS. 7 to 11. FIG. 7 is a flowchart showing the transfer direction origin positioning control operation. 8 to 11 are schematic views showing an example of the transfer direction position of the pair of side arms during the transfer direction origin position positioning control operation.

The control flowchart described below is an example, and each step can be omitted or replaced as necessary. Further, a plurality of steps may be executed at the same time, or some or all of them may be executed in an overlapping manner.
Further, each block of the control flowchart is not limited to a single control operation, and can be replaced with a plurality of control operations represented by a plurality of blocks.
The operation of each device is the result of a command from the controller 51 to each device, and these are represented by each step of the software application.

In the transport vehicle 3, for example, the origin positioning in the transfer direction immediately after the power is turned on is performed by the following procedure.
In step S1, it is determined whether or not the object is detected by either the first load sensor 73 or the second load sensor 75. Specifically, the non-detection confirmation unit 81 makes the above determination. If Yes, the process proceeds to step S11, and if No (the non-detection confirmation unit 81 confirms that the object has not been detected by the first load sensor 73 and the second load sensor 75). B) The process proceeds to step S2. In FIG. 8, the pair of side arms 33 are located near the center in the second direction (arrow X).
In step S2, the pair of side arms 33 are moved to one of the second directions. Specifically, the moving unit 83 moves the side arm 33 by controlling the transfer motor 43. In FIG. 9, the pair of side arms are moved to the upper side of the figure (to the second load sensor 75 side) in the second direction.
In step S3, it is determined whether or not the pair of side arms is detected by one of the first load sensor 73 and the second load sensor 75 (the second load sensor 75 in FIG. 9). If Yes, the process proceeds to step S4, and if No, the process returns to step S2.

In step S4, the arm movement amount detection sensor when one of the first load sensor 73 and the second load sensor 75 (the second load sensor 75 in FIG. 9) detects the pair of side arms 33. The value of 71 is stored. Specifically, the position storage unit 85 executes the above operation. Also, the movement of the pair of side arms 33 is stopped.
In step S5, the pair of side arms 33 are moved to the other side in the second direction. Specifically, the other moving unit 87 controls the transfer motor 43 to execute the above operation. In FIG. 10, the pair of side arms 33 move to the lower side of the figure (to the first load sensor 73 side) in the second direction.
In step S6, it is determined whether or not the pair of side arms 33 is detected by the other of the first load sensor 73 and the second load sensor 75 (the first load sensor 73 in FIG. 10). .. Specifically, the controller 51 makes the above determination. If Yes, the process proceeds to step S7, and if No, the process returns to step S5.

In step S7, the arm movement amount is detected when the pair of side arms 33 is detected by the other of the first load sensor 73 and the second load sensor 75 (the first load sensor 73 in FIG. 10). The value of the sensor 71 is stored in the other position storage unit 86. Also, the movement of the pair of side arms 33 is stopped.
In step S8, detection is performed from the value of the arm movement amount detection sensor 71 stored in the other position storage unit 86 (step S7) and the value of the arm movement amount detection sensor 71 stored in the one position storage unit 85 (step S4). The amount of movement between positions (for example, the distance D in FIG. 10) is grasped. Specifically, the movement amount grasping unit 89 executes the above calculation.

In step S9, the pair of side arms 33 are moved to one side by half the amount of movement between the detection positions (for example, 1/2 of the above distance D). Specifically, the half-movement moving unit 91 controls the transfer motor 43 to execute the above operation. In FIG. 11, the pair of side arms 33 are located at the center of the second direction (arrow X) as a result of the above movement.
In step S10, the value of the arm movement amount detection sensor 71 when the arm is moved halfway is stored as the center position. Specifically, the center position storage unit 93 executes the above operation.
In step S11, the detection object determination control operation is performed (described later).

In this transport vehicle 3, the first load sensor 73 and the second load sensor 75 can be used to grasp the center position (origin) of the pair of side arms 33 in the transfer direction, and a dedicated sensor can be used. There is no need to provide it. That is, the origin sensor and the slide area sensor can be eliminated, and the cost of the airframe can be reduced. In addition, by reducing the number of sensors, adjustment man-hours and inspection items before shipment can be reduced, and the total cost can be reduced.
As described above, in the transport vehicle 3, the origin of the pair of side arms 33 of the transfer device 15 mounted on the transport vehicle 3 can be set by a simple configuration.

(11) Detected object confirmation control operation The detected object confirmation control operation will be described with reference to FIGS. 12 to 16. FIG. 12 is a flowchart showing the detection object determination control operation. 13 to 16 are schematic views showing an example of the transfer direction position of the pair of side arms during the detection object determination control operation.
In step S31, it is determined in which direction the detected object is advancing in the second direction based on the detection results of the first load sensor 73 and the second load sensor 75. Specifically, the arm advance direction detection unit 95 executes the above determination. For example, in FIGS. 13 and 15, since the second load sensor 75 detects an object, it can be grasped that the detected object is on the upper side of the figure in the second direction. In FIG. 13, the load W is detected by the second load sensor 75, and in FIG. 15, the pair of side arms 33 are detected by the second load sensor 75.

In step S32, the hooks 33b of the pair of side arms 33 are opened (moved to the non-engaged position). Specifically, the controller 51 controls the hook motor 45 to execute the above operation.
In step S33, the pair of side arms 33 are moved in the direction opposite to the object detection direction in the second direction. Specifically, the controller 51 controls the transfer motor 43 to execute the above operation. In FIG. 14, the pair of side arms 33 are moved to the second load sensor 75 side from the state of FIG. In FIG. 16, the pair of side arms 33 are moved to the second load sensor 75 side from the state of FIG.

In step S34, it waits for the pair of side arms 33 to be detected by the other of the first load sensor 73 and the second load sensor 75 (in this embodiment, the second load sensor 75). .. Specifically, the arm advance direction detection unit 95 executes the above determination.
In step S35, the movement of the pair of side arms 33 is stopped. Specifically, the controller 51 causes the transfer motor 43 to perform the above operation.

In step S36, whether or not the object is detected by the one of the first load sensor 73 and the second load sensor 75 that detects the object first (in this embodiment, the second load sensor 75). Is judged. Specifically, the object determination unit 97 executes the above determination. If Yes, the process proceeds to step S37, and if No, the process proceeds to step S38.
In step S37, it is determined that the load is a load. The reason is that, as shown in FIG. 14, although the pair of side arms 33 have moved in opposite directions, the object is detected again by the first load sensor 73. Specifically, the object determination unit 97 executes the above determination.

In step S38, it is determined that the pair of side arms 33 are on one side in the second direction. The reason is that, as shown in FIG. 16, the pair of side arms 33 move in opposite directions, so that the second load sensor 75 does not detect the object. Specifically, the object determination unit 97 executes the above determination.

2. 2. Features of the Embodiment The above embodiment can also be described as follows.
The transport vehicle 3 (an example of a transport vehicle) includes a transport vehicle main body 3a, a transfer device 15, an arm movement amount detection sensor 71, a first load sensor 73, a second load sensor 75, and a controller 51. And have.
The transfer device 15 (an example of an arm type transfer device) is a device for transferring the luggage W between the transport vehicle main body 3a (an example of the transport vehicle main body) and another device, and is a pair of side arms 33. It has (an example of an arm) and a transfer motor 43 (an example of an advance / retreat drive motor) for advancing and retreating in both the transfer directions of the arm. The transfer device 15 is mounted on the transport vehicle main body 3a.
The arm movement amount detection sensor 71 (an example of the arm movement amount detection sensor) detects the advance / retreat movement amount of the pair of side arms 33.
The first load-fitting sensor 73 and the second load-fitting sensor 75 (an example of the load-fitting sensor) are arranged on both sides of the end of the transport vehicle main body 3a in the second direction (an example of the transfer direction), and the load W And a pair of side arms 33 can be detected.
In order to grasp the center position of the pair of side arms 33 in the transfer direction, the controller 51 grasps the movement amount of the non-detection confirmation unit 81, the one moving unit 83, the one position storage unit 85, and the other moving unit 87. It has a unit 89, a half movement amount movement unit 91, and a central position storage unit 93.
The non-detection confirmation unit 81 (an example of the non-detection confirmation means) confirms that the pair of side arms 33 are not detected by the first load sensor 73 and the second load sensor 75.
On the other hand, the moving unit 83 (an example of one-way moving means) moves the pair of side arms 33 in one of the transfer directions until one of the first load sensor 73 and the second load sensor 75 detects it.
On the other hand, the position storage unit 85 (an example of the one-side position storage means) of the arm movement amount detection sensor 71 when one of the first load sensor 73 and the second load sensor 75 detects the pair of side arms 33. Remember the value.
The other moving unit 87 (an example of the other moving means) moves the pair of side arms 33 to the other in the transfer direction until the other of the first load sensor 73 and the second load sensor 75 detects it.
The movement amount grasping unit 89 (an example of the movement amount grasping means) is the arm movement amount detection sensor 71 when the other of the first load sensor 73 and the second load sensor 75 detects the pair of side arms 33. The movement amount between detection positions is grasped from the value and the value of the arm movement amount detection sensor 71 stored in the position storage unit 85.
The half movement amount moving unit 91 (an example of the half movement amount moving means) moves the pair of side arms 33 to one side by half the amount of movement between the detection positions.
The center position storage unit 93 (an example of the center position storage means) stores the value of the arm movement amount detection sensor 71 when the arm movement amount is half moved as the center position.
In the transport vehicle 3, the first load sensor 73 and the second load sensor 75 can be used to grasp the center position (origin) of the side arm 33 in the transfer direction, and it is necessary to provide a dedicated sensor. There is no. That is, the origin sensor and the slide area sensor can be eliminated, and the cost of the airframe can be reduced. In addition, by reducing the number of sensors, adjustment man-hours and inspection items before shipment can be reduced, and the total cost can be reduced.

3. 3. Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described herein can be arbitrarily combined as needed.
(1) Modification Example of Transfer Device The side arm of the transfer device may have a base member, a middle member, and a top member. The base member is provided on the main body. The middle member is slidably held by the base member. The top member is slidably held by the middle member. In this case, for example, the middle member or the top member is the detection target.
The side arm type transfer device of the above embodiment may be a clamp method in which the load is sandwiched by the arm or a method in which the arm is brought close to the load and the hook is engaged with the engaging portion of the load.
The transfer device may be a slide fork slidably provided in the second direction. In this case, for example, the optical axis of the load sensor is set to be slanted so that the optical axis is blocked when the slide fork advances.

(2) Deformation example of the transport vehicle The transport vehicle may be a tracked carriage that travels along a rail on the ground or on the ceiling.
The transport vehicle may be a stacker crane.
(3) Modification example of arm movement amount detection sensor The power transmission mechanism of the transfer device may be a rack & pinion mechanism, and in that case, the arm movement amount detection sensor may be an encoder attached to the pinion.

The present invention can be widely applied to a transport vehicle having a transfer device that expands and contracts an arm for transferring a load.

1: Rack 3: Transport vehicle 3a: Transport vehicle body 4: Unit 5: Rail 7: Warehouse station 7a: Station conveyor 8: Step 9: Delivery station 9a: Station conveyor 11: Warehouse lift device 13: Warehouse lift device 15 : Transfer device 21: Shelf stage 22: Frontage 22a: First end side frontage 22b: Second end side frontage 23: Warehouse for warehousing 25: Conveyor for delivery 31: Main body 33: Side arm 33a: Side arm main body 33b: Hook 41: Traveling motor 43: Transfer motor 45: Hook motor 47: Open / close motor 51: Controller 53: Elevating table 55: Support 57: Elevating table conveyor 63: Elevating table 67: Elevating table conveyor 71: Arm movement amount detection sensor 73 : 1st load sensor 75: 2nd load sensor 81: Non-detection confirmation unit 83: One moving unit 85: One position storage unit 86: Other position storage unit 87: Other moving unit 89: Movement amount grasping unit 91 : Half movement amount Movement unit 93: Center position storage unit 95: Arm advance direction detection unit 97: Object determination unit 100: Automated warehouse

Claims (4)

The main body of the transport vehicle and
It is a device for transferring a load between the transport vehicle main body and another device, and has an arm and an advancing / retreating drive motor for advancing / retreating in both the transfer directions of the arm, and the transport vehicle main body. With the arm-type transfer device mounted on the
An arm movement amount detection sensor that detects the advance / retreat movement amount of the arm, and
A pair of load-bearing sensors arranged on both sides of the transfer-direction end of the transport vehicle body and capable of detecting the load and the arm,
A controller for grasping the center position of the arm in the transfer direction is provided.
The controller
A non-detection confirmation means for confirming that the arm is not detected by the pair of load sensors, and
A one-way moving means for moving the arm until one of the pair of load-bearing sensors detects it in one of the transfer directions.
One-sided position storage means for storing the value of the arm movement amount detection sensor when one of the pair of load-bearing sensors detects the arm, and
A moving means for moving the arm to the other in the transfer direction until the other of the pair of load sensors detects it.
The amount of movement between detection positions from the value of the arm movement amount detection sensor when the other of the pair of load-bearing sensors detects the arm and the value of the arm movement amount detection sensor stored in the one-side position storage means. A means of grasping the amount of movement to grasp
A half movement amount moving means for moving the pair of side arms to the one side by half the amount of movement between the detection positions.
It has a center position storage means for storing the value of the arm movement amount detection sensor when the arm is moved halfway as the center position.
Transport vehicle. The arm is a pair of side arms, and is a rear hook type side arm having a side arm main body and hooks rotatably provided at both ends of the side arm main body in the transfer direction.
The carrier according to claim 1, wherein the load sensor is provided at a position of detecting a portion of the pair of side arms below the hook. The carrier according to claim 1 or 2, wherein the controller further includes an arm advance direction detecting means for determining the direction in which the arm is advancing based on the detection result of the load sensor. The controller further has object determination means for determining whether the load is protruding or the arm is advanced when the load sensor detects an object, claims 1 to 3. The carrier described in any of.

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