JP4698212B2 - Roll conveying device and cargo handling vehicle - Google Patents

Description

The present invention relates to a roll transport device that handles transport or loading of roll products or the like in an automatic warehouse or the like, and a cargo handling vehicle.

As shown in FIG. 9, for example, when a plurality of cylindrical bodies R1 to R8 such as roll products are stacked on the pallet P in two or more stages, the plurality of cylindrical bodies R1 to R8 are arranged so as to be close to each other on the center of the pallet P. The plurality of cylindrical bodies R1 to R8 closely support each other on the pallet P. In addition, a technique for storing a plurality of roll products in a pallet or supplementary space with as little gap as possible is disclosed in the following patent documents.
JP-A-10-310206 JP-A-5-43020

However, as shown in FIG. 9, in order to stack a plurality of cylinders R1 to R8, the operator must lift the individual cylinders R1 to R8 by hand. For this reason, the problem that an operator memorizes back pain arises. Alternatively, a large cargo handling device that can hold the cylindrical body and move freely in the vertical direction and the horizontal direction is required. In this case, a large capital investment cannot be avoided.

Accordingly, an object of the present invention is to provide a roll conveying device and a cargo handling vehicle that can stack a plurality of cylindrical bodies on a pallet without gaps at a low cost.

A roll conveying device according to the present invention includes a pair of clamp arms capable of gripping a cylindrical body in an upright posture, a cargo handling vehicle including a drive device for moving the pair of clamp arms up and down or horizontally, and a diameter of the cylindrical body. An input dimension input means, a turntable for rotating a pallet for seating the plurality of cylindrical bodies around the center of the upper surface about a vertical axis that coincides with the center, and attached to the cargo handling vehicle, on the pallet A pushing device that pushes each cylindrical body to be seated toward the center; a diameter of the cylindrical body that is input from the dimension input means; and a distance from the position at which the cylindrical body is seated on the pallet to the center of the pallet. If it based on the number of cylinders that can be seated on one of the pallets, and wherein the pressing device comprises a control means for setting the pushing distance the cylindrical body That.

A cargo handling vehicle according to the present invention includes a pair of clamp arms for gripping a cylindrical body, and a drive device for moving the pair of clamp arms up and down or horizontally. Measuring means for measuring the diameter of the cylindrical body based on an opening / closing operation, a pushing device having a forward / backward rod that is released from the pair of clamp arms and advances in a direction of striking the cylindrical body seated on a pallet, Control means for setting the distance by which the pushing device advances the advance / retreat rod based on the diameter , the distance from the position at which the cylindrical body is seated on the pallet to the center of the pallet, and the number of cylindrical bodies that can be seated on one pallet. It is characterized by providing.

According to the roll conveying device according to the present invention, the cargo handling vehicle conveys the cylindrical body in the upright posture to the pallet while holding it with the pair of clamp arms, and after the cylindrical body is seated at a predetermined position on the upper surface of the pallet, By repeating the operation of releasing the cylindrical body from the clamp arm, a plurality of cylindrical bodies can be sequentially loaded on the upper surface of the pallet. Further, another cylinder is transported to the pallet while being gripped by the pair of clamp arms, and another cylinder is seated on the upper end of the cylinder previously seated on the pallet, and then separated from the pair of clamp arms. When the cylindrical body is opened, another cylindrical body can be stacked on top of the previously seated cylindrical body. In this way, the roll conveying apparatus can stack two or more cylindrical bodies on a single pallet in two or more stages, regardless of manual labor.

Further, since the plurality of cylindrical bodies seated on the pallet are respectively arranged around the center of the upper surface of the pallet, a gap can be secured between the plurality of cylindrical bodies. Thereby, after loading one cylindrical body on a pallet, in a step of loading another cylindrical body on the pallet, a pair of clamp arms that grip the other cylindrical body may come into contact with the one cylindrical body. Absent. Similarly, in the state where another cylinder is stacked on the upper stage of one cylinder, another cylinder is stacked on top of another cylinder seated next to the one cylinder. The pair of clamp arms that hold the other cylindrical body does not come into contact with the other cylindrical body. Therefore, it is possible to avoid a situation in which any cylindrical body is caught by the clamp arm and damaged.

In addition, the distance that the pushing device pushes the cylindrical body toward the center of the pallet from the position where the cargo handling vehicle sits on the upper surface of the pallet is the diameter of the cylindrical body and the cylindrical body that are input to the dimension input means. The control means sets based on the distance from the position seated on the pallet to the center of the pallet and the number of cylindrical bodies that can be seated on one pallet . According to the set distance, the pushing device attached to the cargo handling vehicle actually pushes the individual cylinders toward the center of the pallet, thereby bringing all the cylinders close to each other while approaching the center of the pallet. Thereby, a some cylindrical body can mutually support on a pallet. Therefore, it is not necessary to manually place a plurality of cylindrical bodies close to the center of the pallet or install a large cargo handling device near the turntable.

Furthermore, since the roll conveying apparatus according to the present invention includes a turntable that rotates the pallet around a vertical axis that coincides with the center of the pallet, only one stop position for stopping the cargo handling vehicle with respect to the turntable is determined. If this is the case, the cargo handling vehicle seats one cylinder on the pallet at this stop position, and then turns the turntable to deflect the one cylinder from the front of the cargo handling vehicle. Thus, another cylindrical body can be seated on the same pallet.

Therefore, the cargo handling vehicle can be seated around the center of the pallet without unnecessarily traveling around the pallet, so the accuracy of arranging the cylinder on the top surface of the pallet is improved, and each cylinder is The time required for the cargo handling vehicle to be seated on the pallet can be shortened.

Next, according to the cargo handling vehicle according to the present invention, for example, when the measuring means measures the diameter of the cylindrical body from the operation amount that the pair of clamp arms open and close, the measured value and the position where the cylindrical body is seated on the pallet. Based on the distance from the center of the pallet to the center of the pallet and the number of cylindrical bodies that can be seated on one pallet , the control means can set the distance by which the pushing rod advances in the direction in which the pushing device abuts against the body of the cylindrical body. Therefore, compared with the case where the cargo handling vehicle is controlled by wireless communication from the host computer, the structure of the vehicle is simplified, and there is no fear of malfunction of the vehicle due to poor communication.

A roll conveying device and a cargo handling vehicle according to an embodiment of the present invention will be described with reference to the drawings. In addition to the automatic guided vehicle, the turntable, and the computer described below, detailed description or illustration of the obvious technology is omitted.

As shown in FIGS. 1 (a) and 1 (b), a cargo handling vehicle 1 includes an upright cylindrical body R (R1 to R1, which will be described later).
A pair of clamp arms 2 and a pair of clamp arms 2
It is an automatic guided vehicle provided with the drive device 3 which raises / lowers or advances / retreats horizontally. In addition, FIG.
As shown in FIG. 3, the roll conveying device 4 includes the cargo handling vehicle 1, dimension input means 5 to which the diameter of the cylindrical body R is input, and the pallet P around a vertical axis that coincides with the center m of the upper surface. Turntable 6 to be rotated, pushing device 7 attached to the upper surface of the chassis of cargo handling vehicle 1, and control means 8 for controlling the operations of cargo handling vehicle 1, turntable 6 and pushing device 7. .

The control means 8 mainly includes a CPU and a computer having a storage medium that can be accessed by the CPU in a timely manner, and can transmit an operation command signal to the cargo handling vehicle 1, the turntable 6, or the pushing device 7 through a wired or wireless LAN.

The driving device 3 of the cargo handling vehicle 1 includes a pair of guide rails 31 provided on the upper surface of the chassis of the cargo handling vehicle 1 and a mast that is movably engaged with the pair of guide rails 31 in the front-rear direction indicated by arrows F and B, respectively. A base 32, a mast 33 that rises from the mast base 32, and a lifting carriage 34 that engages with the mast 33 so as to be movable up and down and supports the pair of clamp arms 2. A hydraulic cylinder (not shown) is provided in the chassis of the cargo handling vehicle 1, and the pair of clamp arms 2 advance and retreat in the front-rear direction together with the mast base 32, the mast 33, and the lift carriage 34 according to the expansion and contraction of the hydraulic cylinder. Further, the pair of clamp arms 2 moves up and down together with the lifting carriage 34 in accordance with the expansion and contraction of the lifting hydraulic cylinder 35 attached along the mast 33.

The cargo handling vehicle 1 opens a pair of clamp arms 2 and advances the pair of clamp arms 2 in a state where a cylindrical body R (for example, a roll product) represented by an imaginary line is placed in an upright posture in front of the cargo handling vehicle 1. The cylindrical body R is caused to enter between the pair of clamp arms 2. When the pair of clamp arms 2 is closed, the cylindrical body R is sandwiched between the pair of clamp arms 2 so that the cylindrical body R can be gripped. When the cylindrical body R is lifted together with the pair of clamp arms 2 as it is, when the pair of clamp arms 2 is retracted, the cylindrical body R is retracted to the upper side of the chassis of the cargo handling vehicle 1 in an upright position. In this state, the cargo handling vehicle 1 can travel. Reference numeral 21 denotes a pair of claws provided at the respective lower ends of the pair of clamp arms 2, and prevents the cylindrical body R from sliding off the pair of clamp arms 2.

On the other hand, in order to lower the cylindrical body R onto the pallet P placed in front of the chassis of the cargo handling vehicle 1, the cylindrical body R is advanced together with the pair of clamp arms 2, and then the pair of clamp arms 2 is lowered. The cylindrical body R is seated on the pallet P. When the pair of clamp arms 2 is opened in this state, the cylindrical body R can be released from the pair of clamp arms 2, so that the cargo handling vehicle 1 can travel again when the pair of clamp arms 2 finish raising and retreating.

The dimension input means 5 may measure the diameter of the cylindrical body R from the amount of movement that the pair of clamp arms 2 opens and closes, and transfer this value to the control means 8 as a coded variable. For example, a rotary encoder or the like is attached to a fulcrum where one clamp arm 2 of a pair of clamp arms 2 rotates, and one clamp arm 2 rotates with a cylindrical body R sandwiched between the pair of clamp arms 2. If the angle is detected by the rotary encoder or the like, the value of this angle can be converted into the diameter of the cylindrical body R by the control means 8.

Alternatively, the diameters of various cylinders R are recorded in advance in a storage medium such as a memory, and values corresponding to the diameters of the cylinders R held by the pair of clamp arms 2 are transferred from the storage medium to the control means 8. May be. Alternatively, the diameter of the cylindrical body R may be input to the control means 8 one by one by operating the keyboard or the like.

Although not specifically shown, the turntable 6 can be rotated by a servo motor that operates in desired angular increments in accordance with an operation command signal from the control means 8 and has a pallet P with respect to the vertical axis that is the center of rotation. There is no limitation as long as the center m can be positioned.

The pushing device 7 is a slide rail 7 extending in the front-rear direction fixed to the upper surface of the chassis of the cargo handling vehicle 1
1, an advancing / retracting rod 73 having a contact member 72 that is slidably engaged with the slide rail 71 and pressed against the cylindrical body R at the front end, and an operating rod 74 that is arranged in parallel to the slide rail 71 and is connected to the advancing / retreating rod 73 The pushing hydraulic cylinder 75 is provided. The pushing hydraulic cylinder 75 expands and contracts the operating rod 74 by hydraulic pressure supplied from a hydraulic pressure generating device 76 including a hydraulic pressure generating pump, a direction control valve, a reservoir tank, and the like that are activated or stopped by the control means 8. The advance / retreat rod 73 is advanced / retracted in the front / rear direction according to the expansion / contraction of.

Further, the pushing hydraulic cylinder 75 is connected to a position detecting means 77 composed of a limit switch or an encoder for detecting the distance that the operating rod 74 has advanced from its rear end.
When the hydraulic pressure generator 76 supplies the hydraulic pressure to the push-out side port 78 of the pushing hydraulic cylinder 75 in accordance with the operation command signal of the control means 8, the operating rod 74 starts to advance from its rear end. On the other hand, the distance that the operating rod 74 should advance is calculated by the control means 8 as described later. Then, when the distance that the operating rod has actually advanced reaches the value calculated by the control means 8, the control means 8 pushes in from the hydraulic pressure generator 76 based on the detection signal sent out by the position detection means 77. The hydraulic pressure supplied to the hydraulic cylinder 75 is shut off. As a result, the pushing hydraulic cylinder 75 immediately stops.

Next, a method for transporting the cylindrical body R by the roll transport device 4 will be described. The same names are used for the components already described in the first embodiment, but the description or illustration thereof is omitted.

FIG. 3 shows two cylindrical bodies R1 and R2 loaded on the pallet P. The process up to this state will be described first. That is, the cargo handling vehicle 1 conveys to the vicinity of the pallet P and stops while holding the cylindrical body R1 in the upright posture as described above with the pair of clamp arms 2.
Then, after the cylindrical body R1 is seated at a predetermined position on the upper surface of the pallet P, the cylindrical body R1 is released from the pair of clamp arms 2. The predetermined position is that the center of the end face of the cylindrical body R is the pallet P first.
Is determined by a stroke in which the pair of clamp arms 2 moves forward from the chassis of the cargo handling vehicle 1.

Further, when the stop position at which the cargo handling vehicle 1 stops near the pallet P is determined at the position indicated by the arrow A, the cylinder R1 immediately after sitting on the pallet P is the left side of the pallet P (later cylinder body later). The turntable 6 is in a vertical position that coincides with the center m of the pallet P, while the cargo handling vehicle 1 travels elsewhere to receive another cylindrical body R2. The pallet P is rotated 90 ° clockwise around the axis. Thereby, cylindrical body R1
Swivels clockwise in the drawing together with the pallet P and reaches the position shown in the drawing.

As described above, by rotating the turntable 6, the cylindrical body R1 deviates from the front of the stop position of the cargo handling vehicle 1. Therefore, if the cargo handling vehicle 1 transports the cylindrical body R2 to the stop position, Similarly, the cylindrical body R2 can be seated at a predetermined position on the pallet P. By repeating the above operation, as shown in FIG.
R4 can be loaded sequentially.

Subsequently, another cylindrical body R5 is loaded on the upper end of the cylindrical body R1 already seated on the pallet P, as shown in FIG. This is because another cylindrical body R5 is conveyed to the vicinity of the pallet P while being gripped by the pair of clamp arms 2, and after another cylindrical body R5 is seated on the upper end of the cylindrical body R1, the cylinders are transferred from the pair of clamp arms 2 to the cylinder. This is realized by opening the body R5. Further, when the turntable 6 rotates the pallet P 90 ° clockwise in the figure, the cylinder R5 seated on the upper end of the cylinder R1 also turns clockwise in the figure. By repeating the above operation,
As shown in FIG. 6, the upper ends of the cylindrical bodies R2, R3, R4 are also cylindrical bodies R6, R7,
R8 can be stacked sequentially, and cylindrical bodies R1 to R8 can be stacked and stacked on one pallet P in two stages.

The plurality of cylindrical bodies R1 to R8 seated on the pallet P as described above are arranged around the center m of the upper surface of the pallet P, respectively. Thereby, since a gap can be secured between the plurality of cylindrical bodies R1 to R8, after the cylindrical body R1 is loaded onto the pallet P, the cylindrical body R1 is placed on the cylindrical body R1 in the step of loading the cylindrical body R2 onto the pallet P. The pair of clamp arms 2 that grip R2 do not come into contact. Similarly, in the process of stacking another cylindrical body R6 on top of the cylindrical body R2 seated next to the cylindrical body R1 with the cylindrical body R5 stacked on the upper stage of the cylindrical body R1, The pair of clamp arms 2 that hold another cylindrical body R6 does not come into contact with the cylindrical body R5. Similar effects can be obtained with the other cylindrical bodies R3, R4, R7, and R8.

Further, when the cylinders R1 to R8 are loaded on the pallet P, as shown in FIG. 6, the cylinder R1 loaded with the cylinder R5 among the plurality of cylinders R1 to R8 faces the stop position. So
When the pushing device 7 attached to the cargo handling vehicle 1 advances the advance / retreat rod 73 in the direction in which the abutting member 72 hits the body of the cylindrical body R1, the cylindrical body R1 moves the upper surface of the pallet P from the predetermined position of the pallet P. Move toward the center m while sliding.

The control unit 8 sets the distance by which the operating rod 74 moves forward based on the diameter of the cylindrical body R input to the dimension input unit 5. For example, the control means 8 determines the distance from a predetermined position where the cylindrical body R is first seated on the pallet P to the center m of the pallet P, the number of cylindrical bodies R that can be seated on one pallet P, the It can be calculated from a functional equation with the diameter as a variable.

Then, each time the turntable 6 is turned in increments of 90 °, the cylinders R2 to R4 loaded with the cylinders R5 to R7 are sequentially pushed toward the center m of the pallet P.
1 to R8 are in close contact with each other while approaching the center m of the pallet P. Thereby, a plurality of cylindrical bodies R
1 to R8 can support each other on the pallet P.

It should be noted that the present invention can be implemented in a mode in which various improvements, modifications, or variations are added based on the knowledge of those skilled in the art without departing from the spirit of the present invention. For example, nine cylindrical bodies may be stacked on the pallet P in three stages. The number of cylindrical bodies R loaded on one pallet P can be increased or decreased as appropriate. Further, the advance / retreat rod 73 of the pushing device 7 may be operated by air pressure or an electric motor.

The present invention is not limited to the conveyance or stacking of roll products, and is also a useful technique for arranging any cylindrical body such as a plurality of drums on a pallet in proximity to each other.

(A) is a top view of the cargo handling vehicle which concerns on Example 1 of this invention, (b) is the side view. 1 is a block diagram illustrating a configuration of a roll conveyance device according to a first embodiment of the present invention. The top view which shows the process of loading the cylindrical body of the 1st step | paragraph with the roll conveying apparatus which concerns on Example 2 of this invention. The top view which shows the state which loaded the cylindrical body of the 1st step | paragraph with the roll conveying apparatus which concerns on Example 2 of this invention. The top view which shows the process of loading the 2nd step | paragraph cylindrical body with the roll conveying apparatus which concerns on Example 2 of this invention. The top view which shows the state which loaded the cylindrical body of the 2nd step | paragraph with the roll conveying apparatus which concerns on Example 2 of this invention. The top view which shows immediately after pushing a cylindrical body into the center of a pallet with the roll conveying apparatus which concerns on Example 2 of this invention. The top view which shows the process of pushing a cylindrical body into the center of a pallet with the roll conveying apparatus which concerns on Example 2 of this invention. The perspective view which shows the state which loaded the cylindrical body on the pallet in two steps.

Explanation of symbols

1: Cargo handling vehicle 2: Clamp arm 3: Driving device 4: Roll conveying device 5: Dimension input means 6: Turntable 7: Pushing device 8: Control means 73: Retraction rod R, R1 to R8: Cylindrical body

Claims (2)

A cargo handling vehicle comprising a pair of clamp arms capable of gripping a cylindrical body in an upright posture, and a drive device for moving the pair of clamp arms up and down or horizontally.
Dimension input means for inputting the diameter of the cylindrical body;
A turntable that rotates a pallet that seats the plurality of cylindrical bodies around the center of the upper surface around a vertical axis that coincides with the center;
A pushing device which is attached to the cargo handling vehicle and pushes the individual cylindrical bodies seated on the pallet toward the center;
Based on the diameter of the cylindrical body input from the dimension input means, the distance from the position where the cylindrical body is seated on the pallet to the center of the pallet, and the number of cylindrical bodies that can be seated on one pallet, Control means for setting a distance to which the cylindrical body is pushed,
A roll conveying apparatus comprising: A cargo handling vehicle comprising a pair of clamp arms for gripping a body portion of a cylindrical body, and a drive device for moving the pair of clamp arms up and down or horizontally.
Measuring means for measuring the diameter of the cylindrical body based on the opening / closing operation of the pair of clamp arms,
A pushing device having an advancing and retreating rod that is released from the pair of clamp arms and moves forward in a direction of striking the cylindrical body seated on the pallet ;
Based on the diameter of the cylindrical body, the distance from the position at which the cylindrical body is seated on the pallet to the center of the pallet, and the number of cylindrical bodies that can be seated on one pallet, the distance by which the pushing device advances the advance / retreat rod Control means for setting,
A cargo handling vehicle comprising:

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