JP3009013B2 - Goods carrier - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article transfer apparatus for transferring articles, a wheel capable of moving up and down in a state where a downward biasing force is applied by an elastic body, and the article transfer apparatus. Control means for controlling the operation of the apparatus.

[0002]

2. Description of the Related Art In such an article transporting vehicle, each wheel (all or a part of the wheels) is prevented in order to prevent slippage of driving wheels due to unevenness of the traveling floor surface or iron chips scattered on the traveling floor surface.
Is elastically supported. That is, for example, as shown in FIG. 5, when the wheels are composed of two driving wheels and two driven wheels, in order to prevent each driving wheel from slipping,
It is necessary to keep the contact pressure of each drive wheel almost constant.For this purpose, each driven wheel is elastically supported with respect to the vehicle body, and the driven wheel moves up and down when traveling on uneven terrain such as unevenness of the running floor surface and iron scraps. It was configured to move. Also, for example, even in the case where the wheels are composed of only a plurality of (for example, four) driving wheels, for the same reason, each driving wheel is elastically supported with respect to the vehicle body, and irregularities on the road surface, iron scraps and the like are removed. The drive wheels were configured to be able to move up and down on rough terrain. And in the transfer work of articles by such an article transport vehicle, conventionally,
In the state where the article is stopped at an article transfer location such as a station, the article transfer apparatus is driven to transfer articles.

[0003]

However, when the article transfer device (for example, the transfer device 101 as shown in FIG. 9) is driven during the article transfer operation, the position of the center of gravity with respect to the total weight of the carrier becomes large. Change. At this time, in the conventional article transport vehicle, since the wheels are elastically supported as described above, the vehicle body tilts due to the change in the position of the center of gravity, and therefore, the transfer operation cannot be performed satisfactorily. was there. Incidentally, as a method for solving this problem, as shown in Japanese Patent Application Laid-Open No. Sho 59-18031 (see FIG. 9) which has been already proposed by the present applicant, the vehicle body is held in a predetermined state with respect to the traveling floor surface. Although it is conceivable to provide the telescopic arm 102, there is a problem that a device such as a telescopic arm must be separately provided. The present invention has been made in view of the above circumstances, and an object of the present invention is to prevent a tilt of a vehicle body during a transfer operation and perform a good transfer operation without separately providing a large-scale device. It is an object of the present invention to provide an article transport vehicle capable of performing the following.

[0004]

According to the present invention, there is provided an article carrier comprising:
An article transfer device for transferring articles, a wheel capable of moving up and down in a state where a downward biasing force is applied by an elastic body, and control means for controlling the operation of the article transfer apparatus. The feature is that the wheel lock means for restricting the upward movement of the wheel against the elastic body is provided so as to be switchable between a lock operation state and an unlock state, and the control means but wherein in a state in which a wheel locking means and the locking action state, is configured to activate the article transfer device, said wheel locking means, on the wheel
A hydraulic cylinder that expands and contracts following a downward movement;
Supply and discharge of fluid to and from the fluid pressure cylinder so that
In order to set the supply / discharge stop state to stop and the unlocked state
Supply / discharge allowance for allowing supply / discharge of fluid to / from the fluid pressure cylinder
And a valve that can be switched to and from the fluid pressure.
The movable side member of the cylinder is integral with the wheel.
Contact with a vertically moving member that moves up and down
It is urged by the elastic body to move to the side that contacts the member.
It is in the point provided .

[0005]

According to the feature of the present invention, the fluid pressure cylinder
Supply / discharge stop state for stopping supply / discharge of fluid
Set the valve to the supply / discharge permission state that allows supply / discharge of fluid to / from the
The wheel lock means is locked by switching operation
Can be switched between active and unlocked states
Therefore, during the transportation of the goods, the wheel lock means should be unlocked.
State, and the article transfer device is
When driven, the wheel lock means is locked.
Switch. This makes it easy to lock and lock
State and unlocked state.
In addition, this fluid pressure cylinder
The upward movement is restricted, and the weight due to the operation of the article transfer device is
Maintaining the vehicle body in a predetermined state against changes in the center position
Can be prevented, that is, to prevent the body from tilting during transfer work
You can further are using a fluid圧Shi Linda
The wheel can be locked in a stepless manner
is there. In addition, a state in which a downward biasing force is applied by an elastic body
Wheels are provided in a state and their movement in a hydraulic cylinder
The side member abuts a vertically moving member that moves up and down integrally with the wheel.
And move to the side that contacts the up-and-down moving member.
The wheel is urged by the elastic
Extra resistance in hydraulic cylinders when moving in the direction
You can move without receiving.

[0006]

According to the features of the present invention, a simple control
To switch between the locked state and the unlocked state,
Since it can prevent the body from tilting during transfer work,
Easy and good without the need for separate large equipment
To provide goods transport vehicles that can carry
And the use of hydraulic cylinders
The lock position of the wheel can be performed steplessly
Reached. Also, extra resistance when the wheels move down
You can move down without receiving
Following of wheels on uneven terrain such as uneven floor surface and iron scraps
The property can be improved.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 7, the article transport equipment of the present invention includes a transport vehicle A traveling along a traveling line G provided on a traveling surface, and a plurality of stations S.
In addition, 1 to 5 are added to the reference symbol S to distinguish these stations S from each other.

In this article transport facility, when there is no article in each of the stations S3 to S5 on the article receiving side, an operator operates the console V to instruct an article request (including the requesting station identification information). ), The instruction is transmitted to the central control unit U, and the central control unit U transmits a transfer work instruction of the carrier A to the home station HP based on the instruction of the article request.

The transfer work instruction is transmitted to the home station H.
Based on the transfer work instruction, the transport vehicle A receives the specified article from the station S1 on the article supply side.
Or, it is collected in S2 and designated station (S3 ~
(Any of the stations in S5). Although not shown, the home station HP is provided with a home station communication device for communicating with the carrier communication device 52.

[0010] As shown in FIGS.
An article transfer apparatus 1 for transferring an article E, a body frame 2 supporting the article transfer apparatus 1 and the like, a pair of front and rear drive wheels 3, and a driven wheel 4 as a pair of left and right caster wheels.
And control means 5 on the carrier side. Furthermore,
The carrier A is provided with a traveling line detecting optical sensor 51 for detecting the traveling line G, a carrier-side communication device 52, and an optical sensor 53 for confirming a stop position. Reference numeral 5 is configured to control the operations of the article transfer device 1, the driving wheel 3, the traveling line detecting optical sensor 51, the carrier side communication device 52, and the stop position confirming optical sensor 53.

The station S has a support 61 for supporting the article E, a reflector 62 for reflecting light from the stop position confirmation optical sensor 53, a station side communication device 63,
Optical sensor 64 for detecting the presence or absence of article E on supporting portion 61
And a station-side control device 6 for controlling the operation of the station-side communication device 63 and the optical sensor 64.

Hereinafter, each device will be described. The article transfer device 1 includes a tip fork 1a serving as a loading platform and an intermediate fork 1
b, a base 1c, and a lifting drive 1d. The tip fork 1a is slidably driven laterally with respect to the intermediate fork 1b, and the intermediate fork 1b is slidably driven laterally with respect to the base 1c. 1c is configured to be driven up and down by a lifting drive 1d. And station S
When collecting the article E on the supporting portion 61, the tip fork 1a and the intermediate fork 1b are protruded below the article E, and then the base 1c is raised by the lifting / lowering drive 1d to collect the article E. To supply the goods E,
It is configured to perform the reverse operation.

As shown in FIGS. 1, 4 and 5, the body frame 2 is constituted by a hollow base frame 21, and various devices (an article transfer device 1, a drive unit) are mounted on the outer wall surface of the base frame 21. An engagement portion F for assembling the wheel 3, the driven wheel 4, the traveling line detecting optical sensor 51, the carrier-side communication device 52, the stop position confirming optical sensor 53, etc.) is provided.

As shown in FIGS. 4 and 5, the drive wheel 3 is composed of a pair of wheels 31A, 31 arranged at intervals in the direction of the axis of rotation.
B and a wheel support frame 33 that supports motors 32A and 32B that respectively drive these wheels 31A and 31B,
The bearing 34 and the frame 3 are rotated so as to rotate around a vertical axis P located at the center between the pair of wheels 31A and 31B.
5 and is attached to the vehicle body frame 2. Therefore, when the transport vehicle A travels straight, the control device 5 of the mobile vehicle A is configured to run by rotating the motors 32A and 32B in the same direction at the same rotational speed. When the traveling direction is changed, that is, when turning, the turning is performed by setting the motors 32A and 32B to different rotation speeds. The motors 32A and 32B have the motor 3
An encoder (not shown) for detecting the rotation speed of each of 2A and 32B and a motor drive circuit (not shown) for driving each of the motors 32A and 32B are built in.
It is configured to control the motor drive circuit based on the output of the encoder.

As shown in FIGS. 1 to 5, the driven wheel 4 includes a pair of caster wheels 41A, 41B and a wheel supporting frame 42 for supporting the wheels 41A, 41B which are arranged at intervals in the direction of the axis of rotation. , A pair of wheels 41A, 41
B rotates around the vertical axis Q located at the center between B, and
The outer race 45b of the bearing 44 is attached to the inner race 45a of the bearing 44 via the frame 46 so as to be able to move up and down around the horizontal axis R in a state where a downward urging force is applied by the elastic body 43. Body frame 2
It is configured to be attached to. And the elastic body 43
Locking means T for restricting the upward movement of the wheels 41A, 41B against the force is provided so as to be switchable between a locked state and an unlocked state, and the control means 5 sets the wheel locking means T to the locked state. In this state, the article transfer device 1 is operated.

The wheel locking means T includes wheels 41A, 41B
A fluid pressure cylinder 47 that expands and contracts following the vertical movement of the fluid, a supply / discharge stop state in which supply / discharge of fluid (oil) to / from the fluid pressure cylinder 47 is stopped in order to achieve the lock operation state, and a lock release state. In order to allow the supply and discharge of fluid to and from the fluid pressure cylinder 47, the valve 48 is switchable to a supply / discharge permission state.
It is composed of

The fluid pressure cylinder 47 includes a cylinder 47a and a cylinder 47a.
Can slide up and down along the inner wall of the cylindrical body 47a.
A rod 47b as a moving side member, and a wheel support frame 42
For moving the rod body 47b up and down by following up and down
c, and the rod 47b is connected to the wheels 41A,
Wheel support as a vertically moving member that moves up and down integrally with 41B
Holding frame 42, and its wheel supporting frame
So that it moves to the side in contact with the
The rod 47b is provided so as to be urged by a spring 47c as an elastic body, and the axis of the rod 47b is provided so as to coincide with the axis Q. The valve 48 includes a variable throttle 48 a and a check valve 48.
b, and a locking circuit 48e that can be switched by a solenoid 48d between a state in which the passage of the fluid is permitted and a state in which the passage of the fluid when the fluid pressure cylinder 47 is shortened is prevented by the check valve 48c. 4
8d is operated in conjunction with the article transfer device 1 to stop the supply and discharge of the fluid to and from the fluid pressure cylinder 47, and the supply and discharge allowance to permit the supply and discharge of the fluid to and from the fluid pressure cylinder 47. The state is switched.
In addition, 49 in the figure is a tank for injecting a fluid,
Reference numeral 42a denotes a support portion (fixed to the wheel support frame 42) for receiving and supporting the rod 47b.

Next, a process in which the transporting vehicle A stops at the station S and collects the article E on the station S or a process of supplying the article E on the station S will be described with reference to a flowchart of FIG. I do. First, the transport vehicle A stops at a predetermined position in front of the station S. Then, the optical sensor 53 for confirming the stop position and the station S
After a stop at a predetermined position is confirmed by the reflection plate 62 provided in the printer, the transfer operation corresponding to the transfer operation command is performed. When it is determined that the transport vehicle A is not stopped at a predetermined position, the transport vehicle A is moved back and forth to correct the stop position.

If the content of the transfer operation command is to collect the article E on the station S, the carrier-side control device 5 causes the carrier-side communication device 52 to inform the station-side communication device that the article E is to be collected. The data is transmitted to the station-side control device 6 via 63. The station-side control device 6 that has received the notification that the article E is to be collected operates the optical sensor 64 to activate the support unit 6.
The presence / absence of the article E on 1 is detected, and the detection result is transmitted from the station side communication device 63 to the carrier control device 5 via the carrier communication device 52. And the support part 6
If it is determined that there is an article E on the station 1, the article transfer device 1 is driven in a state where the wheel locking means T of the driven wheel 4 on the station side is in a locking state, and the article E on the station S is collected. I do. If it is determined that there is no article E on the support portion 61, the collection operation of the article E is stopped.

If the content of the transfer operation command is to supply the article E to the station S, communication between the carrier-side control device 5 and the station-side control device 6 is performed in the same manner, and If it is determined that there is no article E, the article transfer device 1 is driven in a state where the wheel locking means T of the driven wheel 4 on the station side is in the locked state to supply the article E on the station S. If it is determined that the article E is on the support portion 61, the supply operation of the article E is stopped.

[Alternative Embodiment] The transport vehicle A of the above embodiment is configured to travel along a travel line G provided on a travel surface, but the transport vehicle A is provided with a moving direction detecting device such as a gyro. And a moving distance detecting device that detects the moving distance of the moving vehicle, and obtains the current position of the moving vehicle from the detection information of these detecting devices,
You may make it drive a mobile vehicle according to the course set beforehand. In the above embodiment, a mark of stop position information using a light reflecting tape, a magnetic tape, or the like may be provided on the traveling road surface, and the transport vehicle A may be accurately stopped at a predetermined position based on the mark information. .
In the above embodiment, articles are transferred using a fork, but the transfer method can be variously changed. For example, a roller conveyor is provided on the transport vehicle A and the station S, and the support F placed on the roller conveyor of the transport vehicle A is pushed out in the direction of the station S, and the roller F is placed on the roller conveyor of the station S. A push-pull device having the function of pulling the support F onto the carrier may be used. In the above embodiment, the wheel locking means T is provided only on the driven wheel 4. However, in the case where the driving wheel 3 is provided so as to be able to move up and down while a downward urging force is applied by an elastic body. , The drive wheel 3 is provided with a wheel lock means T,
The upward movement of the drive wheel 3 may be restricted.
In the above embodiment, the article transfer device 1 is driven in a state where the wheel locking means T of the driven wheels 4 on the station side is in the locking state, but the wheel locking means T of all the driven wheels 4 is in the locking state. In this state, the article transfer device 1 may be driven .

[0022] Although referred to code For convenience of reference the drawings-claims, the present invention by the entry is not intended to be limited to the configuration of the accompanying drawings.

[Brief description of the drawings]

FIG. 1 is a side view illustrating the structure of a driven wheel of an article transport vehicle.

FIG. 2 is a side view illustrating the structure of a driven wheel of an article transport vehicle.

FIG. 3 is an explanatory view of wheel locking means of the article transport vehicle.

FIG. 4 is a side view of the article transport vehicle.

FIG. 5 is a plan view of an article transport vehicle.

FIG. 6 is a block diagram showing a control configuration of the article transport facility.

FIG. 7 is an explanatory view of traveling of the article transport vehicle.

FIG. 8 is a flowchart.

FIG. 9 is a side view illustrating the structure of a conventional article transport vehicle.

[Explanation of symbols]

1 article transfer device 5 controlling means 41A, 41B wheel 42 vertically movable member 43 elastic member 47 a fluid pressure cylinder 47b fluid movable member in pressure cylinder 47c fluid pressure elastic body 48 valve T wheel locking means in the cylinder

Claims (1)

(57) [Claims] An article transfer device (1) for transferring an article, and wheels (41A, 41B) that can move up and down in a state where a downward urging force is applied by an elastic body (43). Control means (5) for controlling the operation of the article transfer device (1)
And a wheel (41A, 41) that opposes the elastic body (43).
B) Wheel locking means (T) for restricting upward movement
The control means (5) is provided so as to be freely switchable between a lock operation state and an unlock state, and the article transfer device (1) in a state where the wheel lock means (T) is in the lock operation state. is configured to activate said wheel locking means (T) is, to expand and contract to follow the vertical movement of the wheels (41A, 41B)
Hydraulic cylinder (47) and the hydraulic cylinder (4
7) a supply / discharge stop state for stopping supply / discharge of fluid to / from the
To release the hydraulic cylinder (47)
It can be switched to a supply / discharge permission state that allows supply / discharge of fluid.
A movable side member of said hydraulic cylinder (47).
(47b) is integrated with the wheels (41A, 41B).
Abutting against a vertically moving member (42) that moves up and down, and
Elastic so that it moves to the side contacting the up-and-down moving member (42)
An article carrier provided to be urged by the body (47c) .