JP2022163646A - Pallet placing part structure - Google Patents

Abstract

To provide a pallet placing part structure which allows pick-up work by a forklift to be easily carried out and can improve workability of the pick-up work.SOLUTION: There is provided a placing part structure for placing a pallet 30 by a forklift 10, in which the placing part structure comprises a base part 43, and a slide mechanism which is supported by the base part and slides in the direction crossing the direction in which a fork is inserted in a pallet opening for inserting the fork. The slide mechanism comprises a slide plate 46 which can be slid by the slide mechanism in a state where the pallet 30 is placed thereon, and a slide regulating part 47 for regulating a slide of the slide plate 46. The slide plate is slidable in the direction crossing the insertion direction of the fork 13 when the fork 13 of a fork-lift truck is inserted into the opening 31 of the pallet.SELECTED DRAWING: Figure 2

Description

The present invention relates to the structure of a pallet placement section that allows the pallet opening to be easily aligned with the fork when inserting the fork of a forklift into the opening of a cargo handling pallet.

2. Description of the Related Art Conventionally, when cargo is loaded onto or unloaded from a loading section such as a truck or a luggage rack, cargo handling work is performed using a forklift while the cargo is loaded on a pallet. In this case, when a forklift is used to pick up a pallet placed on a truck or a cargo rack, the forklift that reaches the vicinity of the pallet is slowly driven to insert the fork into the opening of the pallet and raise the fork. to lift and move the pallet. At that time, it is necessary to move the vehicle according to the relative relationship between the current position of the forklift that has reached the vicinity of the pallet and the position and direction of the opening of the pallet. It takes skill to insert it into the part. In addition, when pallets are loaded on the loading part of a cargo rack or the loading part of a freight vehicle, if the spacing between adjacent pallets is shifted by, for example, about 2 cm, and the pallets are arranged sequentially, the total gap will be increased by that amount due to the number of horizontally stacked pallets. Since it becomes large, a wasteful volume is generated, and the load is likely to collapse or shift.In order to fill this gap, it is necessary to insert a curing material such as a cushioning material, which takes extra time and effort.

In addition, recently, automatic operation forklifts are being put into practical use, and a technique for picking up goods by automatic operation forklifts is proposed in Patent Document 1 and the like. In Patent Document 1, a two-dimensional sensor, which is a laser sensor attached to a fork, is scanned in a first direction, and a three-dimensional distance to an object existing in a space set in front by raising and lowering the fork Measure the data to identify the position and orientation of the cargo or pallet to be unloaded, and generate trajectory data for moving the vehicle to the unloading position calculated based on the identified cargo or pallet position and orientation. There is disclosed a technique for doing so.

Japanese Patent No. 6469506

However, it is not easy to insert the fork protruding forward from the mast into the opening of the pallet while accurately matching the position and orientation of the opening of the pallet while the forklift is running, requiring special skills and advanced calculations. necessary. If the positional relationship between the center of gravity of the pallet and cargo and the multiple forks is inappropriate, the stability of the car body cannot be ensured during running, and the forks may come into contact with the pallet under a heavy load when loaded with cargo. As a result, pallets and cargo may be damaged. Therefore, the misalignment of the forks with respect to the opening of the pallet had to be set to a slight allowable amount, which required time and effort for picking up the cargo using a forklift.

Furthermore, for example, if the direction of the fork of a forklift that has reached the vicinity of the pallet is inclined with respect to the direction of the opening of the pallet, it is necessary to steer the vehicle body to adjust the position and direction of the fork. If the fork is greatly inclined with respect to the direction of , it is also necessary to move the vehicle body back and forth to perform one or more turnovers. In order to ensure that the forks do not come in contact with the side plates around the opening of the pallet, especially in an autonomous forklift truck, the position and orientation of each part are measured by multiple detection means, and the vehicle's drive system and steering system are used. Since the device must be controlled at a high level, there is a problem that the processing of the pick-up work becomes complicated, which tends to waste time and work space.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a pallet placement structure that facilitates unmanned or unmanned pick-up work by a forklift and improves workability of pick-up work. and

A pallet placement section structure of the present invention is a placement section structure for placing a pallet for cargo handling by a forklift. a slide mechanism that slides in a direction that intersects with the It is characterized in that when the forks are inserted into the opening of the pallet, the slide plate can slide in the direction crossing the insertion direction of the forks.

In the pallet placement portion structure of the present invention, the slide mechanism is composed of a plurality of rods rotatably supported by the base portion so that the axis is arranged along the fork insertion direction, and the slide plate is composed of the plurality of rods. is supported on the rolling surface of

In addition, in the pallet placement portion structure of the present invention, the slide mechanism may be provided in the placement portion of the cargo shelf, or the slide mechanism may be provided in the cargo bed of a truck. In that case, preferably, a stopper is provided to fix the slide plate against movement with respect to the base portion.
The slide mechanism may include biasing means for biasing the slide plate in a direction intersecting the insertion direction of the fork.

The forklift used in the pallet mounting structure of the present invention includes a traveling section that travels and steers the vehicle body, a fork attached to the front of the vehicle body, a fork driving section that moves the fork up and down, a traveling section, and a fork driving section. and a control unit that controls the automatic operation forklift.

According to the pallet placement section structure for cargo handling according to the present invention, the slide plate on which the pallet is placed is supported by the base section so as to be slidable by the slide mechanism in the direction intersecting the insertion direction of the forks of the forklift with respect to the pallet. ing. Therefore, when a forklift is running and the forks are inserted into the opening of the pallet, even if the forks are slightly displaced from the opening and come into contact with the side plates, etc. direction can be easily displaced. As a result, even if the position and orientation of the forks are slightly deviated from the opening of the pallet, the forks can be inserted into the opening by sliding the pallet, and the position and orientation of the forks with respect to the opening near the pallet It is possible to improve the degree of freedom of motion for matching the orientation and the allowable amount of misalignment. Therefore, it is possible to provide a pallet mounting structure that facilitates the traveling operation and control of the forklift vehicle body when inserting the fork into the opening of the pallet, and improves the workability of the loading operation by the forklift.

In the present invention, as the slide mechanism, if a plurality of rods are rotatably supported by the base part so that the axis line is along the insertion direction of the fork, and the slide plate is supported by the rolling surfaces of the plurality of rods, the pallet can be used for a large amount of movement. Even when a load is applied, the slide plate can slide the pallet in a direction crossing the fork insertion direction. Therefore, the traveling operation and control of the vehicle body when inserting the fork into the pallet opening can be made extremely easy.

In the present invention, if a slide mechanism is provided on the loading portion of the cargo shelf or the cargo loading portion (cargo bed) of a truck, and a stopper is provided to fix the slide plate so that it cannot move, the base portion can be provided with the sliding mechanism as necessary. On the other hand, the slide plate can be held so as not to be displaced, and the loaded pallet can be stably held when the cargo rack on which the pallet is loaded is moved or tilted, or when the truck is running.

If the slide mechanism of the present invention is provided with biasing means for biasing the slide plate in a direction intersecting the insertion direction, even if the fork deviates from the opening of the pallet and comes into contact with the surrounding plate, the slide plate will remain in place. By sliding against the urging force of the urging means and moving left or right with respect to the insertion direction, the fork enters the opening, and when the contact with the periphery of the opening is released, the fork slides. The plate is slid by the biasing force of the biasing means and returns to the position before the fork was inserted. Therefore, the position of the opening of the pallet does not fluctuate due to the movement of the slide plate, and the target position when inserting the fork can be kept constant, making it easy to operate and control the vehicle body of the forklift.
In either case, by providing the slide mechanism, it is possible to narrow the gaps between the pallets loaded on the cargo shelf placing portion or the cargo placing portion so as to minimize the gaps between the pallets. As a result, it is possible to eliminate the conventional work of inserting a cushioning material or the like, thereby shortening the time and effort required for pick-up work and significantly improving workability.

In the present invention, if the forklift is an automatic operation forklift equipped with a control unit that controls the traveling unit and the fork driving unit, the movement range of the vehicle body near the pallet should be expanded to the range where the forks and the side plate around the opening contact each other. Therefore, even if there is some error in insertion into the opening, the control conditions for the running portion can be relaxed. As a result, the control unit can be simplified, the traveling operation such as turning the vehicle body around the pallet can be simplified, and the processing time for the pick-up operation can be shortened.

1 is a perspective view of a luggage rack that employs a pallet placement structure according to a first embodiment of the present invention; FIG. 1 shows a mounting portion structure according to a first embodiment, where (a) is a plan view, (b) is a cross-sectional view taken along line AA of (a), and (c) is a bottom view. FIG. FIG. 2 is a partial perspective view showing a cross section of a part of the placement section structure according to the first embodiment, showing a BB cross section of FIG. 2(a). (a) is a partial plan view showing an enlarged portion C of FIG. 2 (a), and (b) is a side view thereof. FIG. 4 is a partial perspective view of one end portion of the placement section structure according to the first embodiment, viewed from the rear side; It is a perspective view which shows some slide plates in the mounting part structure which concerns on 1st Embodiment. 4A and 4B show a stopper in the placement section structure according to the first embodiment, (a) is a perspective view of a stopper pin, (b) is a perspective view of a stopper clip, and (c) is a fixed state of a base portion and a slide plate by a stopper. It is a cross-sectional view showing the. The forklift truck used by this invention is shown, (a) is a side view, (b) is a block diagram. Schematic diagram for explaining an example of creation of travel data in the control unit, (a) showing the relative positional relationship between the current position of the automatically driven forklift and the pick-up position, and (b) showing the traveling route only forward . It is a schematic diagram illustrating another example of creating travel data in the control unit, (a) shows the relative positional relationship between the current position and the pick-up position of the automatic operation forklift, (b) is a combination of backward and forward Indicates the driving route. It is a schematic side view showing a truck equipped with a pallet placement portion structure according to a second embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[First embodiment]
The first embodiment is a luggage rack incorporating the pallet placement structure of the present invention. The luggage shelf 41 is installed on the floor as shown in FIG. 1, and has a plurality of mounting portions 42 arranged vertically. Each placing part 42 can load the pallet 30 in one rack or in multiple stages, in the case of the figure, in three stages so that the forks of a forklift can be inserted into the opening 31 of the pallet 30. ing.

The luggage rack 41 of the present embodiment is composed of a frame 45, and the frame 45 is assembled into a cubic shape by a base portion 43 and vertical struts 44 which are rectangular in plan view. The base portion 43 is configured in three stages as shown in the drawing, and a slide plate 46 is arranged on each base portion 43 to constitute a mounting portion 42 for a plurality of pallets 30 . These slide plates 46 are slid in the left-right direction (longitudinal direction of the shelf board) in FIG. A regulation portion 47 is provided.

As shown in FIGS. 2(a) to 2(c) and FIG. 3, a plurality of rods rotatably supported by a base portion 43 and arranged substantially parallel to each other are arranged as a slide mechanism on the mounting portion 42 of each stage. 48 are arranged, and the slide plate 46 is supported by the rolling surfaces of the plurality of rods 48 . Axis lines L of the plurality of rods 48 are arranged along the insertion direction D1 of the fork 13 into the opening 31 of the pallet 30 . Each rod 48 is rotatably arranged by being supported at both ends by bearings 49 arranged in the lateral struts 43a of the base portion 43. As shown in FIG.

The slide plate 46 is formed of a substantially rectangular plate member elongated in a direction D2 intersecting the insertion direction D1 of the fork 13, and a plurality of reinforcing members 46c are fixed to the lower surface thereof along the intersecting direction D2. The slide plate 46 is supported from below by a plurality of rods 48 so as to be slidable in a direction D2 intersecting the insertion direction D1 of the fork 13 into the opening 31 of the pallet 30, preferably in a direction perpendicular thereto.

The lateral strut 43a is covered with a cover portion 50. As shown in FIG. The cover portion 50 has an outer surface portion 50a, an upper surface portion 50b, and an inner surface portion 50c that cover the outer side, the upper side, and the inner side of the frame-shaped base portion 43 . The upper surface portion 50 b is arranged substantially flush with the upper surface of the slide plate 46 . The inner surface portion 50c covers the position other than the rod 48, and the upper surface portion 50b serves as a guide when the slide plate 46 slides.

As shown in FIGS. 4(a) and 4(b), the slide restricting portion 47 is attached to a pair of lateral struts 43a arranged in the lateral direction of the substantially rectangular base portion 43, and both ends of the slide plate 46 in the longitudinal direction. 46a has a movable concave portion 43b, convex portions 43c that can contact the slide plate 46 near the four corners, and cutout portions 46b that are provided at the four corners corresponding to the convex portions 43c of the slide plate 46. The slide restricting portion 47 restricts excessive sliding of the slide plate 46 by contacting the notch portion 46b of the slide plate 46 with the convex portion 43c of the lateral strut 43a when the slide plate 46 slides more than a predetermined amount.

As shown in FIG. 5, in the mounting section structure of this embodiment, slide plates 46 as auxiliary slide mechanisms are provided on both sides of the substantially rectangular base section 43 in the crossing direction D2 so as to cross the insertion direction D1. A biasing means 51 such as a tension spring is provided for biasing in the direction D2. Both ends of the biasing means 51 are fixed to the base portion 43 and the slide plate 46 . According to this biasing means 51, the slide plate 46 is restored to a predetermined position by being released after the force in the cross direction D2 acts on the slide plate 46 to slide it. In this embodiment, the base portion 43 in the open state is restored to the central position in the cross direction D2 by urging the slide plate 46 with the longitudinal direction end portions 46a. As a result, even if the fork 13 comes into contact with the periphery of the opening 31 of the pallet 30 and the slide plate 46 is displaced in the direction crossing the insertion direction, the contact between the fork 13 and the periphery of the opening 31 is prevented. When released, the slide plate 46 can be slid by the biasing force of the biasing means 51 and restored to the position before the fork 13 was inserted. Therefore, the position of the opening 31 does not fluctuate due to the displacement of the slide plate 46, the target position when inserting the fork 13 can be kept constant, and the operation and control of the vehicle body of the forklift can be facilitated. Therefore, it is possible to minimize the gaps between the pallets 30 loaded on the cargo rack mounting portion or the cargo mounting portion.
According to the placing section structure of the present invention, the interval between the adjacent pallets 30 can be reduced to about 1 cm, preferably from 5 mm to about 1 cm. is not required, and the time and effort required for pick-up work are shortened, resulting in a marked improvement in workability. In addition, when a gap of about 5 mm occurs between the pallets 30, the gap can be eliminated by simply inserting a corrugated cardboard or the like as necessary, thereby significantly improving workability.
In this embodiment, the rod 48 is used as the main slide mechanism, and the spring is used as the auxiliary biasing means 51. However, instead of the rod 48, the spring 51 alone can constitute the slide mechanism. In this case, the spring 51 is connected to the slide plate 46 to form a slide mechanism. Although illustration is omitted, other elastic members such as rubber may be used, or an electric slide mechanism may be employed.

5 and 6, the mounting portion structure of this embodiment is provided with a stopper 56 for fixing the slide plate 46 to the base portion 43 so that the slide plate 46 cannot move. As shown in FIG. 7(c), the stopper 56 has a stopper pin 56a (see FIG. 7 ( (see FIG. 7(b)) is inserted into the stopper pin 56a to prevent it from coming off. The stopper 56 can be attached and detached by the operator as required, and by attaching it, the slide plate 46 can be fixed to the base portion 43 so as not to move.

The forklift truck of the present embodiment used for loading and unloading work is not limited to a manned forklift driven by a person, and an automatically operated forklift 10 shown in FIGS. 8(a) and 8(b) may be used. The automatic operation forklift 10 includes a vehicle body 11, a traveling unit 12 that automatically moves the vehicle body 11 back and forth and automatically steers, a fork 13 provided in the front part of the vehicle body 11, and a fork drive that moves the fork 13 up and down. , a detection unit 15 that acquires various information, a control unit 16 provided inside the vehicle body 11 , and an object detection unit 20 .

The vehicle body 11 has a substantially rectangular parallelepiped outer shape, and includes projecting portions 11a extending forward from both left and right sides. A ring 11c is provided. A rear wheel 11c is supported as a steering wheel so as to be able to swing about a vertical axis.

The traveling unit 12 rotates the front wheels 11b or the rear wheels 11c to cause the automatically operated forklift 10 to travel forward and backward, and steers the rear wheels 11c to turn left and right. The fork 13 is supported so as to be vertically movable along a pair of masts 13a arranged in the front portion of the vehicle body 11, and is moved by the fork driving section 14. As shown in FIG. The detection unit 15 includes a position sensor 15a provided above the vehicle body 11, an obstacle sensor 15b provided below the vehicle body 11, and a bumper sensor 15c.

The laser navigator 15a, which is a position sensor, is composed of, for example, a laser scanner and a light receiving section, emits a laser beam from the laser scanner, and reflects the laser beam from a plurality of reflecting sections arranged at various locations such as walls within the working area. is collected by the light receiver to determine the current position and direction.

The obstacle sensor 15b is composed of, for example, a two-dimensional lidar, detects an obstacle behind the vehicle body 11 of the automatically operated forklift 10, and sends out a detection signal. The bumper sensor 15c detects an obstacle and sends out a detection signal when it comes into contact with the obstacle. Further, the automatic operation forklift 10 is provided with an emergency stop button 17a, a voice/pattern lamp 17b, and a winker 17c as a safety section 17 in order to further enhance safety.

The control unit 16 creates traveling data based on the pickup position and the unloading position input by the operation unit 16a provided on the outer surface of the vehicle body, and controls the traveling unit 12 based on this traveling data. That is, the control unit 16 causes the automatically operating forklift 10 to travel along a basic route set in advance in the work area, thereby moving the automatically operating forklift 10 to the vicinity of the specified pickup position. After the pallet 30 is loaded on the fork 13, it is similarly moved along the basic route to the vicinity of the designated unloading position, and the pallet 30 is unloaded from the fork 13 at the unloading position.

The control unit 16 is provided with map data of the work area, and also registers basic routes and marker positions so as to connect each loading position or unloading position. The basic route is a route set in advance for moving within the work area, and the automatically operated forklift 10 moves largely within the work area along the basic route, and also moves to individual loading positions or unloading positions. are accessed by branching from the basic path.

The object detection unit 20 includes a sensor unit 22 and a height sensor unit 23, a moving unit 21 that moves them, and a shape recognition unit 24. The sensor unit 22 is attached to the vehicle body 11 and detects the three-dimensional point cloud in front. consists of sensors that acquire A shape recognition unit 24 recognizes the shape and position of an object located in front from the information acquired by the sensor unit 22 .

In a work area where a plurality of cargo racks 41 are installed at predetermined positions as described above, in order to perform loading and unloading operations, the position of the mounting portion 42 of the cargo rack 41 on which the pallet 30 to be unloaded is loaded and The direction, unloading position, etc. are input to the operation unit 16a.

As a result, travel data is created in the control unit 16, and the automatically operated forklift truck 10 moves to the vicinity of the pickup position along the basic route based on the travel data. When the cargo rack 41 reaches the vicinity of the pallet 30 , the object detection unit 20 detects the shape and position of the pallet 30 and its opening 31 , and calculates the relative positional relationship with the current position of the automatic operation forklift 10 . Based on this relative positional relationship, the control unit 16 creates travel data up to the pickup position where the tip of the fork 13 faces the opening 31 of the pallet 30, and controls the travel unit 12 based on this travel data. . As a result, the vehicle body 11 of the automatically operated forklift 10 travels so as to insert the fork 13 into the opening 31 of the pallet 30 arranged at the pickup position.

Corresponding to the relative positional relationship between the current position of the automatic operation forklift 10 and the pick-up position, if the forklift truck 10 moves straight forward as shown in FIG. If it is not possible to directly face the , the control unit 16 creates travel data for turning around and moving forward, as shown in FIG. 9(b). Also, as shown in FIG. 10(a), when the angle with respect to the pallet 30 is greatly deviated and it is not possible to face the opening 31 of the pallet 30 at the pick-up position in a straight line even if it turns around only by moving forward, As shown in FIG. 10(b), the control unit 16 creates traveling data such that the vehicle temporarily reverses and then reverses the steering to move forward.

Then, the height position of the fork 13 is made to correspond to the height position of the pallet 30, and the fork 13 is inserted into the opening 31 of the pallet 30 by running the automatically operated forklift 10 according to the created running data. At this time, when the automatically operated forklift 10 is in the pickup position, the forks 13 face the opening 31 of the pallet 30 straight. matches the direction of the opening 31, the fork 13 can be inserted into the opening 31 of the pallet 30 by moving the vehicle body 11 forward.

On the other hand, if the position of the fork 13 and the position of the opening 31 are slightly displaced, or the orientation of the fork 13 is slightly displaced from the orientation of the opening 31, the vehicle body 11 is moved forward to move the fork 13 to the opening of the pallet 30. 31, the fork 13 cannot be smoothly inserted into the opening 31 of the pallet 30 and is in contact with the periphery thereof. If the relative positions and relative angles do not differ excessively, the fork 13 can be inserted into the opening 31 by moving the vehicle body 11 forward while steering.

That is, in this embodiment, since the slide plate 46 on which the cargo and the pallet 30 are loaded is slidably supported by a large number of rods 48, the forks 13 come into contact with the periphery of the opening 31 of the pallet 30, causing the forks 13 to move. When the pallet 30 is pressed by , the slide plate 46 slides in the direction D2 intersecting the insertion direction D1. Therefore, if the slide plate 46 is within a slidable range, the vehicle body 11 can be continued to move forward, allowing the entire fork 13 to be inserted into the opening 31 of the pallet 30, and the fork 13 to be lifted while being inserted. The pallet 30 can be picked up by moving the vehicle body 11 again.

After that, the control unit 16 moves to the vicinity of the unloading position along the basic route based on the travel data, and when it arrives, calculates the relative positional relationship between the current position and the unloading position in the same manner as when unloading, Travel data is created based on the relative positional relationship, and the vehicle body 11 is caused to travel. At the unloading position, the fork 13 is lowered until the bottom surface of the pallet 30 touches the floor surface, and by retreating, the fork 13 is completely pulled out from the opening 31 of the pallet 30 to complete unloading.

According to the placement portion structure of the pallet 30 of the first embodiment as described above, the slide plate 46 for loading the pallet 30 intersects the insertion direction D1 of the forks 13 of the automatically operating forklift 10 with respect to the opening 31 of the pallet 30. It is supported by the base portion 43 so as to be slidable in the direction D2. Therefore, when the automatically operated forklift 10 is driven and the fork 13 protruding forward of the vehicle body 11 is inserted into the opening 31 of the pallet 30, the fork 13 is slightly displaced from the opening 31 and contacts the side plate around the opening 31. However, the slide plate 46 can be easily displaced in the direction D2 intersecting the insertion direction D1. As a result, the forks 13 can be inserted into the openings 31 even if the positions and orientations of the forks 13 are slightly deviated from the openings 31 of the pallet 30 . The degree of freedom and tolerance for misalignment can be improved. Therefore, the traveling control of the vehicle body 11 of the automatically operating forklift 10 when inserting the fork 13 into the opening 31 can be facilitated, and the workability of the loading operation by the automatically operating forklift 10 can be improved.

In the first embodiment, since the base portion 43 is provided on each of the mounting portions 42 provided in a plurality of stages on the luggage rack 41, each mounting portion 42 on each stage of the luggage shelf 41 installed at a predetermined position is provided with a base portion 43. The loaded pallet 30 can be easily unloaded.

In particular, a plurality of rods 48 are rotatably supported by the base portion 43 so that the axis L of the rods 48 is along the insertion direction D1 of the fork 13, and the slide plate 46 is supported by the rolling surfaces of the plurality of rods 48. Therefore, the slide plate 46 can easily slide in the direction D2 intersecting the insertion direction D1 of the fork 13 even when a large load is applied. Therefore, traveling control of the vehicle body 11 when inserting the fork 13 into the opening 31 can be made easier.

Further, in the first embodiment, since the biasing means 51 for biasing the slide plate 46 in the direction D2 intersecting the insertion direction D1 is provided, the fork 13 is brought into contact with the periphery of the opening 31 of the pallet 30. Even if the slide plate 46 is displaced in the direction D2 crossing the insertion direction D1, if the contact between the fork 13 and the periphery of the opening 31 is released after that, the slide plate 46 is pushed by the biasing force of the biasing means 51. can be restored to the position before inserting the fork 13 by sliding. Therefore, the position of the opening 31 does not fluctuate due to the displacement of the slide plate 46, the target position when inserting the fork 13 can be kept constant, and the control of the vehicle body 11 of the automatic operation forklift 10 can be made easier. .
In the automatic operation forklift 10, an error of about 5 cm, for example, may occur in the fork 13 with respect to the opening 31 of the pallet 30. However, when the placement section structure of the present invention is used in the automatic operation forklift 10, the interval between the adjacent pallets 30 can be closely packed to about 1 cm, preferably about 5 mm, so that conventional cushioning materials and the like can be used. This eliminates the need for the work of inserting the curing material, shortens the time and effort of the pick-up work, and significantly improves the workability. In addition, when a gap of about 5 mm is generated between the pallets 30, the gap can be eliminated by simply inserting a cardboard plate or the like as necessary, thereby significantly improving workability.

In addition, in the first embodiment, the stopper 56 is provided to fix the slide plate 46 to the base portion 43 so as not to move. For example, even when the cargo shelf 41 is moved or tilted, the slide plate 46 and the loaded pallet 30 can be stably held.

On the other hand, in the first embodiment, the automatically operated forklift 10 including the control unit 16 that controls the traveling unit 12 and the fork driving unit 14 is used. can be expanded to a range in which it contacts with the surroundings, and the control conditions for the traveling portion 12 in the control portion 16 can be relaxed. Therefore, the control unit 16 can be simplified, and the traveling operation such as turning the vehicle body 11 of the automatically operated forklift 10 near the pallet 30 can be simplified, and the processing time of the pick-up operation can be shortened.

[Second embodiment]
In the second embodiment, an example in which a loading platform for a truck is provided with a pallet placement structure will be described. As shown in FIG. 11, a truck 52 of the second embodiment is provided with a cargo mounting portion 42, which is a loading platform for loading cargo, on a chassis 54 extending rearward from a driver's cab 53. . The loading section 42 is partitioned from the outside by a panel 55, and by wide opening and closing the entire side panel (not shown), the automatically operated forklift 10 can load and unload cargo and pallets. On the floor surface of the placing section 42, a pallet placing section structure having the same configuration as that of the first embodiment is provided.

The same effects as those of the first embodiment can be obtained even with the cargo placement portion 42 of the truck 52 of the second embodiment. Moreover, since the base portion 43 is provided on the mounting portion 42 of the truck 52, when the cargo conveyed by the truck 52 is picked up by the automatic operation forklift 10, the truck 52 can be parked at a stop position or in a direction to stop. Even if variations occur, the forks 13 of the automatically operating forklift 10 can be easily inserted into the openings 31 of the pallets 30, and the automatically operating forklift 10 can easily carry out the pick-up work.

In addition, in the second embodiment, the stopper 56 is provided to fix the slide plate 46 to the base portion 43 so that the slide plate 46 cannot be displaced. For example, when the truck 52 travels, the loaded pallet 30 can be stably held even if acceleration is applied to the cargo in the front-rear direction or the left-right direction.

The above-described first and second embodiments can be appropriately modified within the scope of the present invention.
For example, in each of the above-described embodiments, an example in which the pallet 30 is unloaded by the automatically operating forklift 10 has been described, but the forklift used for the unloading work is not limited at all. For example, the pallet mounting structure of the present invention can be used even when the fork 13 is inserted into the opening 31 of the pallet 30 by the operator operating the forklift to make it travel.

Further, in each of the above-described embodiments, an example in which the slide plate 46 is slidably supported in the direction D2 that intersects the insertion direction D1 of the fork 13 with respect to the opening 31 of the pallet 30 has been described. 13 may also be slidably supported by a predetermined amount in the insertion direction D1. Further, it is also possible to provide a slide plate 46 slidably in the rotation direction with respect to the base portion 43 by a predetermined amount.
Furthermore, in the slide mechanism, the structure of the slide regulating portion 47 and the stopper 56 is not particularly limited, and a structure capable of regulating the slide of the slide plate 46 or fixing the slide plate 46 so that it cannot move. If so, it can be selected as appropriate. For example, it may be configured to contact the slide plate 46 and apply a frictional force.

In addition, in the above second embodiment, an example in which the mounting portion structure of the pallet 30 is provided in the loading portion 42 of the cargo such as a container of the truck 52 has been described. 43 may be provided to provide a platform structure for the pallet 30 between the truck 52 and the cargo platform 42 .

10 Autonomous Operation Forklift 11 Vehicle Body 11a Overhang 11b Front Wheel 11c Rear Wheel 12 Traveling Part 13 Fork 13a Mast 14 Fork Driving Part 15 Detection Part 15a Position Sensor (Laser Navigator)
15b Obstacle sensor 15c Bumper sensor 16 Control unit 16a Operation unit 17 Safety unit 17a Emergency stop button 17b Voice/patrol lamp 17c Winker 20 Object detection unit 21 Moving unit 22 Sensor unit 23 Height sensor 24 Shape recognition unit 30 Pallet 31 Opening 41 Luggage rack 42 Mounting portion 43 Base portion 43a Horizontal strut 43b Recess 43c Protruding portion 43d Through hole 44 Vertical strut 45 Frame 46 Slide plate 46a End 46b Notch 46c Reinforcing member 46d Notch 47 Slide restricting portion 48 Rod 49 Bearing 50 Cover Part 50a Outer surface 50b Upper surface 50c Inner surface 51 Biasing means 52 Truck 53 Cab 54 Chassis 55 Panel 56 Stopper 56a Stopper pin 56b Stopper clip L Rod axis D1 Fork insertion direction D2 Intersecting direction

Claims (7)

A pallet placement section structure for placing a cargo handling pallet,
a base;
a slide mechanism that is supported by the base portion and slides in a direction intersecting the insertion direction of the fork insertion opening of the pallet,
The slide mechanism is
a slide plate on which the pallet is placed and slidable by the slide mechanism;
a slide regulation part that regulates the slide of the slide plate,
A pallet rest structure in which a slide plate is slidable in a direction crossing the insertion direction of the fork when the fork of a forklift is inserted into the opening of the pallet. The slide mechanism is composed of a plurality of rods rotatably supported by the base portion so that the axis line is arranged along the insertion direction of the fork, and the slide plate is supported on the rolling surfaces of the plurality of rods. 2. The pallet rest structure according to claim 1, wherein: 3. The pallet placement section structure according to claim 1, wherein said slide mechanism is disposed on the placement section of a luggage shelf. 3. The pallet rest structure according to claim 1, wherein said slide mechanism is disposed on a loading platform of a truck. 5. The pallet placement section structure according to claim 1, further comprising a stopper for fixing said slide plate to said base section so as not to move. 6. The pallet rest structure according to claim 1, wherein said slide mechanism comprises biasing means for biasing said slide plate in a direction intersecting with said fork insertion direction. The forklift controls a vehicle body, a traveling section that travels and steers the vehicle body, a fork attached to the front portion of the vehicle body, a fork driving section that moves the fork up and down, and the traveling section and the fork driving section. 2. The pallet rest structure according to claim 1, which is an automatic operation forklift comprising a control unit.

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