JP3196103B2 - Pallet picking method using a forklift type unmanned vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a pallet picking method using a forklift type unmanned vehicle.

[0002]

2. Description of the Related Art Conventionally, in this type of pallet picking method using a forklift type unmanned vehicle, since the pallet to be handled is of one type, the insertion level for inserting a fork is constant both vertically and horizontally. There was no need to search for the pallet fork slot during operation.

FIG. 9 is a diagram showing a schematic configuration of a conventional forklift type unmanned vehicle of this type. As shown in the drawing, the unmanned vehicle 10 includes two forks 11, and the forks are moved up and down by a fork driving device (not shown). The fork 11 is provided with a load presence / absence detector 12 for detecting the presence / absence of a load. The unmanned vehicle 10 has an upper level detector 13 for detecting that the fork is at the upper level, and detects that the fork is at the insertion level. An insertion level detector 14 for detection and a lower level detector 15 for detecting that the fork is at a lower level are provided.

[0004] The unmanned vehicle travels along a predetermined route by a guiding device and a traveling device (not shown), and temporarily stops at a predetermined position (position in front of the loading tray) opposite to a pallet to be picked. Next, the fork driving device raises the fork 11 until the insertion level detector 14 detects the fork 11. The fork insertion level position is fixed by the height of the receiving table. Next, the unmanned vehicle 10 moves forward by the traveling device, inserts the fork 11 into the fork insertion port by a predetermined amount (picking amount), and stops.

The fork driving device raises the fork 11 until the upper level detector 13 detects it, and places the pallet on the carrier on the fork 11. Next, in this state, the unmanned vehicle 10 is retreated by the traveling device by a predetermined amount (at least until the tip of the fork 11 leaves the edge of the loading tray).
Next, the fork driving device lowers the fork 11 until the lower level detector 14 detects the fork 11. Thereafter, the unmanned vehicle 10 travels along a predetermined route by the guidance device and the traveling device, and transports the pallet to the destination.

[0006]

In the conventional pallet picking method using a forklift type unmanned vehicle, the pallet shape is one type and the pallet fork insertion port is constant. The picking operation was possible only by detecting that the load level was reached. That is, picking can be performed by raising the fork 11 to the insertion level, then moving the unmanned vehicle 10 forward, and raising the fork 11 to the upper level. However, when the shapes of the pallets to be handled are various, the size and position of the fork insertion port differ depending on the pallet, and the insertion position of the fork also differs depending on the shape of the pallet. Therefore, there is a problem that pallets cannot be picked by the above-mentioned conventional method.

Further, since the insertion level detector 14 is conventionally provided on the body of the unmanned vehicle 10, there is a problem that the insertion level of the fork fluctuates due to the air pressure of the unmanned vehicle or unevenness of the running ground or floor surface. In an extreme case, there is a problem that the fork cannot be inserted or an accident occurs.

The present invention has been made in view of the above points, and it is possible to pick up a pallet of a different shape with the same forklift type unmanned vehicle, and always keep the vertical fork insertion level from the ground or floor. It is an object of the present invention to provide a pallet picking method using a forklift type unmanned vehicle that can be set to a constant value.

[0009]

According to one aspect of the present invention, there is provided a pallet picking method using a forklift type unmanned vehicle having a pallet picking fork. After raising the fork to a vertical insertion level at a predetermined position opposite thereto, advance and insert the fork into the fork insertion port of the pallet, and then raise the fork by a predetermined amount and place the pallet on the fork. and, thereafter a predetermined amount backward, in yet pallet picking process according forklift unmanned vehicle for picking pallet is lowered to below the level of the predetermined amount of said fork, unmanned vehicles fork insertion of said path <br/> Rett Outlet search means for searching for a mouth; and
Fork insertion level from the traveling ground or floor of the unmanned vehicle
Together comprise a bayonet level setting means for setting, fork each fork consists of two fork being movable in the lateral direction, the running of two forks ground
Or after lowering to the floor, set with insertion level setting means
Raised to the insertion level, searches the subsequent fork insertion opening in the insertion port search unit, positioning the forks of two said laterally insertion level of the fork insertion port of the pallet, then advanced to the The fork is inserted into the fork insertion slot.

[0010] The invention described in claim 2 is the same as the claim 1.
In the pallet picking method using a forklift type unmanned vehicle described in the above, the insertion port search means is provided at each tip of the two forks, and after raising the two forks to the vertical insertion level, The pallet is moved in the horizontal direction, the two insertion port searchers respectively detect the fork insertion ports of the pallets, and insert the fork when reaching the horizontal insertion level.

[0011]

Further, the invention described in claim 3 is the first invention.
Alternatively, in the pallet picking method using a forklift type unmanned vehicle according to claim 2, after placing the pallet on the two forks, the two forks are moved laterally.
And align the center between the forks with the center of the unmanned vehicle
It is characterized by being able to.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a configuration of a forklift type unmanned vehicle used in the pallet picking method of the present invention. The unmanned vehicle 10 has a fork 11 and a load detector 1
2. The point that an upper level detector 13 and a lower level detector 15 are provided is the same as the conventional example shown in FIG. At the tips of both forks 11 of the unmanned vehicle 10, there are provided insertion port searchers 16a and 16b for searching for a pallet fork insertion port, and a plug for setting a vertical fork insertion level from the ground or floor. A level setting unit 17 is provided.
Further, the fork 11 is composed of two forks, and is configured to be able to move independently in the lateral direction.

The insertion port searchers 16a and 16b emit, for example, ultrasonic waves and light, and detect reflected waves of the ultrasonic waves and light to detect whether there is an obstacle ahead. If the fork insertion port of the pallet is located at the tip of the insertion port searchers 16a and 16b, the ultrasonic waves and light pass through, there is no reflected wave, and the detection is made as the fork insertion port. Table 16
If there is a pallet beam at the tip of a or b, the beam reflects ultrasonic waves or light and detects that it is not a fork insertion port.

FIG. 2 is a diagram showing a flow of the pallet picking operation by the unmanned vehicle 10. In the pallet picking method, the vehicle travels along a predetermined route by a guiding device and a traveling device (not shown), and temporarily stops at a predetermined position (a position just before the loading tray) facing the pallet to be picked. Next, the fork 11 is lowered to the ground (or floor) by the fork driving device (step ST1). Next, the fork 11 is raised to the vertical fork insertion level set by the insertion level setting device 17 (step ST2). After lowering the fork 11 to the ground (or floor) in this way,
By raising the insertion level, the fork 11 can be set (positioned) at a predetermined insertion level regardless of the tire pressure of the unmanned vehicle 10 and the unevenness of the ground (or floor).

Next, the insertion port searcher 16 at the tip of both forks
a, 16b are activated (step ST3). Normally, when the insertion port searchers 16a and 16b are activated, as shown in FIG. 3A , the fork 11 is at a height at which the pallet 18 can be picked (insertable). , 1
Ultrasonic or light or the like emitted from 6b passes through the fork insertion openings 18c of the pallet 18, but other party to the pallet 18 aside the 18a of the fork 11, as shown in FIG. 3 (b), 18b
If there is, the ultrasonic waves and light are reflected by the beams 18a and 18b.

Next, it is determined whether or not the insertion port searchers 16a and 16b have detected the fork insertion port 18c of the pallet 18 (step ST4).
The fork 11 is moved outward (step ST5). Subsequently, the outlet searchers 16a and 16b are connected to
(B) As shown in FIG.
Is determined (step ST6), and if yes, the movement of the fork 11 is stopped (step S6).
T7). Subsequently, the fork 11 is moved inward, and stopped when the insertion slot searchers 16a and 16b detect the fork insertion slot 18c (step ST8).

A position where both forks 11 can be inserted into the fork insertion port 18c of the pallet 18, that is, both forks 11
It is determined whether or not the position has reached the horizontal insertion level (step ST9), and if yes, the picking operation is started (step ST10). That is, the unmanned vehicle 10 moves forward by the traveling device, inserts the fork 11 into the fork slot 18c of the pallet 18 by a predetermined amount and stops, and then raises the fork 11 until the upper level detector 13 detects it, The pallet is placed on the fork 11.

In step ST4, when the insertion port searchers 16a and 16b do not detect the fork insertion port 18c, that is, as shown in FIG. If there is, step ST
8, the fork 11 is moved inward, and stops when the insertion slot searchers 16a and 16b detect the fork insertion slot 18c as shown in FIG. 4B.

In step ST9, if both forks 11 are not at a position where they can be inserted into the fork insertion port 18c of the pallet 18, that is, if they are not at the horizontal insertion level of the forks, both forks 11 Until the other fork reaches the horizontal insertion level (step ST11), and both forks 11 reach the horizontal insertion level. Upon reaching, the picking operation is started (step ST12).

In the step ST6, the outlet searchers 16a and 16b connect the digits 18a and 18a of the pallet 18 respectively.
If b cannot be detected, it is abnormal, and the fork 11 is moved to the end (step ST13), and an alarm or a light is displayed (step ST14).

As described above, the fork 11 is raised to the upper level by the picking operation, and the pallet 18 is placed on the fork 11.
Retreats by a predetermined amount (at least until the tip of the fork 11 leaves the edge of the carrier), and then lowers the fork 11 until the lower level detector 14 detects the fork 11. Thereafter, the unmanned vehicle 10 travels along a predetermined route by the guidance device and the traveling device, and transports the pallet to the destination.

In the bookbinding industry and the like, a so-called distribution pallet is used in which a load is distributed while being placed on the pallet. In an automatic warehouse system using such a distribution pallet, the distribution pallet has various shapes, and the distribution pallet may be handled in an automatic warehouse. In this case, as shown in FIG. 5, the warehouse pallet 19 is used.
There is a case where the distribution pallet 20 on which the articles 21 are placed is placed and handled in an automatic warehouse.

In the system for handling the distribution pallets 20 placed on the warehouse pallets 19 as described above, when the distribution pallets 20 are placed on the warehouse pallets 19, the distribution pallets 20 are prevented from protruding from the warehouse pallets. The pallet 2 is placed on the fork 11 of the driverless vehicle 10
When picking 0, the position of the distribution pallet 20 is
As shown in the figure, there is a case where the vehicle is not at the center of the unmanned vehicle 10 (the center of the warehouse pallet 19). In this case, the distribution pallet cannot be picked by the conventional forklift type unmanned pallet picking method, but the distribution pallet 20 placed on the warehouse pallet 19 is easily picked by the pallet picking method of the present invention as follows. be able to.

FIGS. 7A to 7E show pallets 1 for warehouses.
The center of distribution pallet 20 on 9 is unmanned vehicle 10
FIG. 7 is a diagram for explaining a method of picking a distribution pallet 20 when the distribution pallet 20 is shifted from the center of FIG. In FIG. 1, the warehouse pallet 19 and the distribution pallet 20 show a frontal state as viewed from the front, and the unmanned vehicle 10 shows a planar state as viewed from above. First, the unmanned vehicle 10 is placed at a predetermined position before the receiving table 22 on which the warehouse pallet 19 on which the distribution pallet 20 is placed is placed.
Stops, raises the fork 11 to the vertical fork insertion level, and subsequently activates the insertion port searchers 16a and 16b.

In this state, as shown in FIG. 7 (a), there is a beam 20b of the distribution pallet 20 in front of the left fork 11, a fork insertion port 20c in front of the right fork 11, and 7B, when the insertion port searcher 16a detects the fork insertion port 20c, only the right fork 11 is moved outward as shown in FIG. 7B. ), As shown in FIG.
When the shift 20a is detected, the right fork 11 is stopped.

In this state, as shown in FIG. 7D, the left and right forks 11, 11 are moved inward, and the left and right insertion port searchers 16a, 16b detect the fork insertion port 20c, respectively. When the lateral fork insertion level is reached as shown in (e), the unmanned vehicle 10 is advanced, and both forks 11, 1
1 is inserted into the fork insertion port 20c of the distribution pallet 20, and the distribution pallets 20 are picked by raising the forks 11, 11 by a predetermined amount.

In the above embodiment, as means for detecting the fork insertion port of the pallet, the forks 11, 1
Although the insertion port searchers 16a and 16b provided at the front end of the pallet are used, the means for detecting the fork insertion port of the pallet is not limited to this. It is also possible to arrange the containers and detect the fork insertion port of the pallet from the output thereof. In short, the fork insertion port is detected by some insertion port search means, and each fork is detected based on the output. Can be moved laterally so that the lateral position of the fork can be positioned at the lateral insertion level.

When the distribution pallet 20 placed on the warehouse pallet 19 is picked as described above,
If the center of the distribution pallet 20 is shifted from the center of the unmanned vehicle 10 as shown in FIG.
When the transport pallet 20 is lowered to the destination station, the distribution pallet 20 cannot be lowered to a fixed position of the station. Therefore, in the present embodiment, as shown in FIG. 8B, after picking the distribution pallet 20, the left and right forks are set so that the center between the left and right forks 11, 11 coincides with the center of the unmanned vehicle 10. 11 and 11 are moved. Thereby, the distribution pallet 20 can be lowered to the fixed position of the station.

[0030]

As described above, the present invention is described in each claim.
According to the invention, the following excellent effects can be obtained. (1) According to the invention described in claim 1 or 2, the two
After lowering the fork to the running ground or floor,
The fork insertion port is searched by the insertion port search means, and the two forks are inserted in the horizontal insertion level of the pallet fork insertion port.
And then move forward to move the fork
Since the plug into the outlet, can be picking in different palette of shape when both, of the unmanned vehicle tire pressure and the ground where the vehicle runs
Always up and down the fork, regardless of surface or floor irregularities
It can be positioned at the insertion level.

[0031]

(2) According to the invention described in claim 3 , 2
After placing the pallet on the fork, the two forks can be moved laterally so that the center between the forks and the center of the unmanned vehicle can be matched, so that the center is from the center of the unmanned vehicle. Even when a shifted pallet is picked, the pallet can be lowered to a predetermined position at the destination.

[Brief description of the drawings]

FIG. 1 is a diagram showing a schematic configuration of a forklift type unmanned vehicle used in a picking method of the present invention.

FIG. 2 is a diagram showing a flow of a pallet picking operation by the forklift type unmanned vehicle of the present invention.

FIG. 3 is a diagram illustrating a pallet picking operation of the present invention.

FIG. 4 is a diagram illustrating a pallet picking operation of the present invention.

FIG. 5 is a view showing a state where a distribution pallet is placed on a warehouse pallet.

FIG. 6 is a view showing a state where a distribution pallet is placed on a warehouse pallet.

FIG. 7 is a diagram illustrating an example of a picking operation of a distribution pallet according to the present invention.

FIG. 8 is a diagram illustrating an example of centering a pallet picked according to the present invention.

FIG. 9 is a diagram showing a schematic configuration of a forklift type unmanned vehicle used in a conventional picking method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Unmanned vehicle 11 Fork 12 Load presence detector 13 Upper level detector 15 Lower level detector 16a, b Insertion port searcher 17 Insertion level setting device 18 Pallet 19 Warehouse pallet 20 Distribution pallet 21 Goods 22 Receiving stand

Claims (3)

(57) [Claims] 1. A pallet picking method using a forklift type unmanned vehicle provided with a pallet picking fork, wherein the unmanned vehicle lifts the fork to a vertical insertion level at a predetermined position facing a pallet. Forward, insert the fork into the fork slot of the pallet, then raise the fork by a predetermined amount, place the pallet on the fork, then retreat by a predetermined amount, and further lower the fork to a predetermined amount below the level. In a pallet picking method using a forklift type unmanned vehicle that lowers and picks a pallet, the unmanned vehicle includes an insertion port search unit that searches for a fork insertion port of the pallet, and the fork insertion level is set to the unmanned vehicle.
Together comprise a bayonet level setting means for setting a traveling ground or floor of the fork each fork consists of two fork is movable in the transverse direction, the said two forks Lower to the running ground or floor
After that, the insertion level is raised to the insertion level set by the insertion level setting means, and then the fork insertion port is searched by the insertion port search means, and the two forks are inserted into the fork insertion port of the pallet. A pallet picking method using a forklift type unmanned vehicle, characterized in that the fork is positioned at a lateral insertion level and then advanced to insert the fork into the fork insertion port. 2. The insertion port search means is provided at a tip of each of the two forks. After the two forks are raised to the vertical insertion level, each of the forks is moved in the horizontal direction. 2. The pallet according to claim 1, wherein the pallet is forklift-type unmanned vehicle, wherein the pallet is moved and the two insertion port search means respectively search fork insertion ports of the pallet, and insert the fork when reaching a horizontal insertion level. Picking method. 3. After placing a pallet on the two forks, the two forks can be moved laterally so that the center between the forks and the center of the unmanned vehicle can be aligned. A pallet picking method using a forklift type unmanned vehicle according to claim 1 or 2.