JP5196454B2 - Transport system - Google Patents

Description

  The present invention relates to a transport system using a forklift capable of switching between a manned operation mode and an unmanned operation mode.

  Conventionally, for example, in a transfer system that uses a forklift to transfer a large amount of work placed in a storage area outside the warehouse to a shelf provided in the warehouse, work efficiency such as shortening the overall transfer time Improvement of (conveyance efficiency) is required. Forklifts include a manned forklift that is operated by an operator and an unmanned forklift that is automatically operated without boarding by an operator. Further, for example, as disclosed in Patent Document 1, manned and unmanned operations are performed. There is also a switchable forklift.

  There is a work form in which a series of transportation from a storage area outside the warehouse to a shelf in the warehouse is performed by a manned forklift. In this case, it is conceivable to increase the number of forklifts in order to improve working efficiency. However, it is necessary to increase the number of operators as the number of forklifts increases, which increases labor costs.

  In addition, there is an operation mode in which a series of transportation from a storage area outside the warehouse to a shelf in the warehouse is performed by an unmanned forklift. In this case, there is no need to increase the number of operators even if the number of forklifts is increased. However, when an unmanned forklift is operated according to a predetermined safety standard, it must travel at a constant traveling speed or less (for example, 3.6 km / h or less) outside a warehouse where people come and go. As such, it may be subject to speed limitations. On the other hand, in the warehouse, if a restriction that no one can enter is provided, the unmanned forklift can travel without being subjected to the speed restriction as described above. In other words, when a workpiece is transported by an unmanned forklift according to such safety standards, the forklift is subject to the speed limit described above outside the warehouse, so that the work transportation time outside the warehouse becomes longer, and the work efficiency of the entire transportation system is reduced. descend.

  In addition, there is a work form in which a work is conveyed by a manned forklift outside the warehouse, and the work is automatically conveyed by a stacker crane inside the warehouse. Since the work is transported by a manned forklift instead of an unmanned forklift outside the warehouse, there is no speed limitation due to the safety standards as described above. However, the stacker crane has a problem that it takes time to identify the cause of the failure or difficulty in recovery work when the automatic conveyance system breaks down for some reason.

Japanese Patent Laid-Open No. 07-138000

  Therefore, the problem to be solved by the present invention is to provide a transport system with good work efficiency using a forklift capable of switching between a manned operation mode and an unmanned operation mode.

In order to solve the above problems, a transport system according to the present invention includes a plurality of forklifts capable of switching between a manned operation mode and an unmanned operation mode, a manned traveling area where the forklift travels in the manned operation mode, and the forklift operates unmanned. An unmanned travel area that travels in a mode, and a forklift in a transport system that transports workpieces between a manned travel area and an unmanned travel area
Transmitting means provided on the forklift for transmitting radio signals to a predetermined distance range, receiving means provided on the forklift for receiving radio signals transmitted by other forklift transmitting means, manned traveling area and unmanned traveling area A plurality of first standby positions provided on the manned travel area side along the doorway between and a plurality of second standby positions provided on the unmanned travel area side along the doorway,
Forklifts working in the manned running area send radio signals, and the forklifts in the unmanned running area wait at the second standby position after transporting the workpiece, and among the forklifts waiting at the second standby position, the radio signal first The received forklift travels from the second standby position to the first standby position in the unattended operation mode.

  Preferably, the forklift includes display means for displaying the information received by the receiving means, and the forklift display means in the manned traveling area displays specific information for identifying the first standby position of the forklift that first received the radio signal. Is done.

  Preferably, the manned traveling area is outside the warehouse and the unmanned traveling area is inside the warehouse.

  As described above, the present invention is a transport system using a plurality of forklifts capable of switching between a manned operation mode and an unmanned operation mode. In a manned travel area (for example, outside a warehouse), an operator operates the forklift and the unmanned travel area ( For example, in a warehouse, a forklift is automatically operated to convey a workpiece between a manned traveling area and an unmanned traveling area. When the forklift moves from the manned travel area to the unmanned travel area, the operator gets off the forklift in the manned travel area, switches the operation mode of the forklift to the unmanned operation mode, and automatically operates the forklift in the unmanned travel area. Then, the operator who gets off the forklift changes to another forklift already waiting after the work has been transported and continues the transport work.

  And this invention is equipped with the above-mentioned structure, The forklift in the position nearest to the operator who performs transfer work among waiting forklifts after finishing conveyance of a workpiece | work is an unmanned travel area (2nd standby position). Automatically travels to the manned travel area (first standby position). Therefore, if the operator changes to the forklift that has automatically traveled to the manned running area, the operator will change to the forklift at the nearest position. That is, the transport system according to the present invention enables an operator to change forklifts quickly and efficiently.

  Thus, the transport system according to the present invention facilitates efficient transfer of the forklift by the operator and improves the work efficiency of the entire transport system.

It is a figure which shows conveyance of the workpiece | work by the conveyance system which concerns on this invention. It is a figure which shows the structure of the forklift of the conveyance system which concerns on this invention. It is a figure which shows the Example of the conveyance system which concerns on this invention. It is a figure which shows the Example of the conveyance system which concerns on this invention. It is a figure which shows the Example of the conveyance system which concerns on this invention. It is a figure which shows the Example of the conveyance system which concerns on this invention.

  Hereinafter, a transport system according to the present invention (hereinafter simply referred to as a transport system) will be described with reference to the drawings.

  As shown in FIG. 1, the transport system includes a plurality of forklifts 1. Each forklift 1 has a manned operation mode in which an operator is boarded and operated by an operator's operation, and an unmanned operation mode in which the operator automatically operates without boarding. Each forklift 1 includes switching means 10 (FIG. 2) for switching between a manned operation mode and an unmanned operation mode. The switching means 10 is, for example, a switch, and the operator can switch between the manned operation mode and the unmanned operation mode by pressing this switch.

  The transport system further includes a manned traveling area 2 in which the forklift 1 travels in the manned operation mode and an unmanned traveling area 3 in which the forklift 1 travels in the unmanned operation mode. In the present embodiment, the transport system includes a rack warehouse 4 for accommodating the workpiece W, the unmanned traveling area 3 is inside the rack warehouse 4, and the manned traveling area 2 is outside the rack warehouse 4. Outside the rack warehouse 4, a loading space 5 in which a large number of works W are placed is provided. In the rack warehouse 4, rack shelves 40 for placing workpieces W are installed in parallel at a predetermined interval, and a lane L for the forklift 1 to travel between the rack shelves 40. The rack warehouse 4 includes an entrance 41 (entrance between the manned traveling area 2 and the unmanned traveling area 3) for the forklift 1 to enter and exit.

  The transport system includes a plurality of first standby positions P in the manned traveling area 2 for the forklift 1 to wait. The first standby position P is provided along the doorway 41 of the rack warehouse 4 with a predetermined interval in a straight line. Further, the transport system includes a plurality of second standby positions Q in the unmanned traveling area 3 for the forklift 1 to wait. Similarly to the first standby position P, the second standby position Q is also provided in a straight line with a predetermined interval along the entrance / exit 41 of the rack warehouse 4. In the present embodiment, both the first standby position P and the second standby position Q are provided corresponding to each lane L of the rack warehouse 4.

  This transport system uses a plurality of forklifts 1 capable of switching between the above-described manned operation mode and unmanned operation mode, and a large number of works W placed in the storage area 5 are rack racks 40 installed in the rack warehouse 4. Transport to.

  First, the forklift 1 picks up the workpiece W placed in the loading place 5 in the manned traveling area 2 and travels to the first standby position P in the manned traveling area 2 (see S1 in FIG. 1). At this time, the forklift 1 is in a manned operation mode. That is, the operator gets on the forklift 1 and operates the forklift 1 to transport the workpiece W from the loading place 5 to the first standby position P.

  As described above, the transport system transports the workpiece W outside the rack warehouse 4 where people go and go in the manned operation mode instead of the unmanned operation mode. Therefore, even if the predetermined safety standard as described in the background art is followed, the forklift 1 is not subjected to speed limitation and can quickly transport the workpiece W.

  When the operator transports the workpiece W to the first standby position P, the operator gets off the forklift 1 and switches the operation mode of the forklift 1 from the manned operation mode to the unmanned operation mode by the switching means 10. Then, the forklift 1 that has entered the unmanned operation mode starts automatic operation according to the work content that is determined in advance or input by the operator by the input means 11 (FIG. 2) when the operation mode is switched. The forklift 1 in the unmanned operation mode moves from the standby position P, enters the rack warehouse 4 (unmanned travel area 3), and travels on the lane L (S2). Then, the forklift 1 in the unattended operation mode places the workpiece W at the designated position on the designated rack shelf 40 according to the work content, and finishes the conveyance of the workpiece W. The forklift 1 in the unattended operation mode that has finished transporting the workpiece W travels to the second standby position Q and enters a standby state at the second standby position Q (S3).

  As described above, the transport system transports the workpiece W in the rack warehouse 4 in the unattended operation mode. However, if there is a restriction that prohibits the entry of a person into the rack warehouse 4, the above-mentioned safety standard is followed. Even so, the forklift 1 can travel without any speed limitation. However, since the movement from the first standby position P to the entrance / exit 41 of the rack warehouse 4 is a movement outside the rack warehouse 4, the forklift 1 in the unmanned operation mode is limited in speed according to a predetermined safety standard only during the movement in this period. Will receive. In FIG. 1, the forklift 1 with hatching indicates that the forklift is in operation, and the forklift 1 without hatching indicates that the forklift is on standby. The same applies to FIGS. 3 to 6.

  On the other hand, the operator who gets off the forklift 1 travels from the second standby position Q to the first standby position P according to the following configuration, and is already waiting at the first standby position P (S4) and moves to the forklift 1. . Then, the operation mode is switched from the unmanned operation mode to the manned operation mode by operating the switching means 10 of the forklift 1. The operator changes to the forklift 1 and moves to the loading place 5 (S5). Then, according to the above procedure again, the work W in the loading space 5 is transported to the rack shelf 40 in the rack warehouse 4.

  In this transfer system, as described above, work outside the rack warehouse 4 is performed in the manned operation mode, and work inside the rack warehouse 4 is performed in the unmanned operation mode. That is, the operator operates the forklift 1 outside the rack warehouse 4 where people and the like go, there are many obstacles, and flexible operation is required. On the other hand, the forklift 1 is automatically operated in the rack warehouse 4 where a simple and regular work of placing the work W on the rack shelf 40 is required. In this way, the transfer system operates the forklift 1 in the manned operation mode in a place suitable for manned operation and in the unmanned operation mode in a place suitable for unmanned operation while transferring the work W by switching the operation mode. , Work efficiency (conveyance efficiency) is improved.

  Further, in the transport system, all the cargo handling operations in the rack warehouse 4 are performed in the unmanned operation mode and are not performed in the manned operation mode. In other words, the operator does not operate the forklift 1 to perform the cargo handling work on the rack shelf 40. Therefore, the transport system does not require the operator to have a high operation technique of the forklift 1 such as carrying out a cargo handling operation at a high height, and reduces the burden on the operator.

  In the transport system, the operator switches the forklift 1 to the unmanned operation mode and works in the unmanned travel area 3, and then transfers to another forklift 1 to continue the transport work. There is no need to assign. That is, the work W can be efficiently conveyed while the number of operators is smaller than the number of forklifts 1. Therefore, this transport system can save labor and contribute to the reduction of labor costs.

  In addition, it is preferable that the forklift 1 used with the conveyance system of a present Example is a 3WAY type forklift. Since the 3WAY type forklift can carry the cargo in the left-right direction and the forward direction without changing the direction of the vehicle body, the width of the lane L between the rack shelves 40 required for the forklift 1 to travel can be reduced. Therefore, by adopting a 3WAY type forklift, the number of rack shelves 40 that can be installed in the rack warehouse 4 can be increased, and the accommodation efficiency of the rack warehouse 4 is increased.

  Further, the forklift 1 has the following configuration for further improving work efficiency.

  As shown in FIG. 2, the forklift 1 includes a wireless device 6 for communicating information with other forklifts 1 wirelessly. The wireless device 6 is preferably attached to the upper part of the vehicle body of the forklift 1 so as to facilitate communication with other forklifts 1. The wireless device 6 includes a transmitter 60 (transmitter) that transmits a wireless signal within a predetermined distance range and a receiver 61 (receiver) that receives a wireless signal transmitted by the transmitter 60 of another forklift 1. Composed.

  Further, the forklift 1 includes a control unit 12 that controls the entire forklift 1. The control unit 12 includes a CPU and a memory. The control means 12 switches the operation mode according to the input from the switching means 10, stores the work content in the unattended operation mode, controls the forklift 1 according to the work content, or the transmission means 60 of the wireless device 6 Various controls such as controlling the receiving means 61 are performed.

  A transport system for transporting the workpiece W as shown in FIG. 1 by the forklift 1 having the transmitting means 60 and the wireless means 61 as described above will be described with reference to FIGS. In FIG. 3, the forklift 1 (A) in the manned traveling area 2 (outside the rack warehouse 4) is in the manned operation mode, that is, the operator gets on the board, takes out the workpiece W in the loading space 5, and unloads the forklift 1 ( Among the lanes L2, L4, and L7 (empty lanes) without B) to 1 (E), the vehicle is traveling to the first standby position P4 corresponding to the lane L4. The forklifts 1 (B) and 1 (C) in the unmanned traveling area 3 (in the rack warehouse 4) have finished transporting the work W in the loading area 5 to the rack shelf 40 in the rack warehouse 4, and the second standby in the lanes L3 and L6. Waiting at positions Q3 and Q6. The forklifts 1 (D) and 1 (E) in the unmanned travel area 3 are in the process of transporting the workpiece W in the lanes L1 and L5 in the unmanned operation mode.

  As shown in FIG. 3, the forklift 1 (A) that is transporting the workpiece W to the first standby position P <b> 4 in the manned traveling area 2 activates the transmission means 60 of the radio device 6. That is, the forklift 1 (A) travels from the loading place 5 toward the rack warehouse 4 while transmitting a radio signal to a predetermined distance range 7. A predetermined distance range 7 conceptually shown in FIG. 3 is a range in which a radio signal transmitted by the four lift 1 (A) can be received. Therefore, when the forklift 1 operating the receiving means 61 enters the predetermined distance range 7, the forklift 1 receives the radio signal of the forklift 1 (A).

  Of the forklifts 1 (B) to 1 (E) in the unmanned traveling area 3, the forklifts 1 (B) and 1 (C) waiting at the second waiting positions Q3 and Q6 are the receiving means 61 of the radio 6. Is activated so that a radio signal transmitted from the forklift 1 (A) in the manned traveling area 2 can be received. On the other hand, the forklifts 1 (D) and 1 (E) that are transporting the workpiece W work without operating the receiving means 61, and cannot receive the radio signal of the forklift 1 (A) in the manned traveling area 2 And

  As shown in FIG. 4, when the forklift 1 (A) in the manned traveling area 2 approaches the first standby position P4 for transporting the workpiece W, the forklift 1 (B) waiting at the second standby position Q3 is The predetermined distance range 7 of the transmission means 60 is entered. Since the forklift 1 (B) at the second standby position Q3 operates the receiving means 61, the forklift 1 (A) in the manned traveling area 2 receives a radio signal.

  When the forklift 1 (B) at the second standby position Q3 receives the radio signal from the forklift 1 (A), the forklift 1 (A) cancels the standby state and travels from the second standby position Q3 to the first standby position P3 in the unattended operation mode. The standby state is resumed at the first standby position P3. That is, the transport system causes the forklift 1 (B) at the second standby position Q3 to automatically come out of the rack warehouse 4 from the inside of the rack warehouse 4 by receiving the radio signal.

  Then, as shown in FIG. 5, when the operator of the fork riff 1 (A) moves the fork lift 1 (A) to the first standby position P4, the fork lift 1 (A) descends from the fork lift 1 (A). The operation mode is switched from the manned operation mode to the unmanned operation mode. The forklift 1 (A) in the unattended operation mode turns off the transmission means 60 and the reception means 61, enters the rack warehouse 4, and transports the workpiece W to the rack shelf 40.

  As described above, the operator who gets off the forklift 1 (A) automatically comes out of the rack warehouse 4 and moves to the forklift 1 (B) waiting at the first standby position P3. Change to B). The operator who has transferred to the forklift 1 (B) operates the forklift 1 (B) and moves to the loading site 5 without operating the transmission means 60. Then, the work W in the loading space 5 is taken out, the transmission means 60 is actuated again, and the vehicle travels toward the rack warehouse 4. The transport system transports all the workpieces W in the loading space 5 to the rack shelf 40 of the rack warehouse 4 by repeating such a procedure.

  As shown in FIG. 5, the forklift 1 (C) waiting at the second standby position P6 is also in a predetermined state until the forklift 1 (A) transports the workpiece W to the first standby position P4. Enter the distance range 7 and receive the radio signal of the forklift 1 (A). However, in this transport system, the forklift 1 (C) that has received the second radio signal from the forklift 1 (A) does not travel to the first standby position P6, and is in a standby state at the second standby position Q6. Leave it alone. That is, in this transport system, the forklift 1 (B) that first receives a radio signal from the forlift 1 (A) among the forklifts 1 (B) and 1 (C) waiting at the second standby positions Q3 and Q6. ) Only travels from the second standby position Q3 to the first standby position P3 and waits at the first standby position P3.

  In this way, the transport system does not cause the forklift 1 that has finished transporting the workpiece W in the unattended operation mode to suddenly wait at the first standby position P outside the rack warehouse 4, but once at the second standby position in the rack warehouse. Wait at Q. Then, when the forklift 1 in the manned traveling area 2 approaches the rack warehouse 4 for transporting the workpiece W, only one forklift 1 to be transferred next by the operator is removed from the rack warehouse 4 (first standby position P). ) Automatically. In this way, the forklift 1 in the unmanned operation mode, after finishing the conveyance of the workpiece W, goes out of the rack warehouse 4 silently and thus collides with the forklift 1 outside the rack warehouse and the operator who is performing the transfer operation. Therefore, only one unit required for the transfer work goes out of the rack warehouse 4 to increase safety.

  Further, in the transport system, the second standby positions Q1 to Q7 are provided in a straight line along the entrance 41 of the rack warehouse 4, and the forklift 1 (A) in the manned traveling area 2 transmits a radio signal to a predetermined distance range 7. While traveling toward the entrance 41 of the rack warehouse 4. As a result, among the forklifts 1 (B) and 1 (C) at the second standby positions Q3 and Q6, the forklift 1 (B) that first receives the radio signal of the forklift 1 (A) in the manned traveling area 2 is transferred. The forklift that is closest to the operator of the forklift 1 (A) performing the work (at the first standby position P4).

  In short, in the transport system, the forklift 1 in the standby state closest to the operator who performs the transfer work of the forklift 1 moves from the second standby position Q in the rack warehouse 4 to the first standby position P outside the rack warehouse 4. Drive automatically. Therefore, if the operator changes from the rack warehouse 4 to the forklift 1 that has automatically traveled, the forklift 1 can be changed quickly and efficiently without waste.

  As described above, in the transport system, the operator is encouraged to efficiently transfer the forklift 1 to improve the work efficiency (transport efficiency) of the entire transport system.

  In the present embodiment, as shown in FIG. 2, each forklift 1 may include a display unit 13 that displays information received by the receiving unit 61. The display means 13 is, for example, a display, and is preferably provided at a position where an operator who operates the forklift 1 can easily recognize.

  As shown in FIG. 4, when the forklift 1 (B) waiting at the second standby position Q3 receives the radio signal of the forklift 1 (A), the forklift 1 (A) is activated by operating the transmission means 60. ) Transmits a radio signal including its own work information. The forklift 1 (A) receives the radio signal including the work information from the forklift 1 (B) by the receiving means 61, and displays “B 3 lane” on the display means 13 based on the received work information.

  Thus, if the operator of the forklift 1 (A) confirms the display means 13, the forklift 1 (B) to be changed next automatically travels to the first standby position P3 corresponding to 3 lanes (lane 3L). It can be grasped when waiting. That is, the display unit 13 displays specific information that allows the operator to specify the first standby position P3 (the position to change to the forklift 1 (B)) of the forklift 1 (B) to be changed next.

  For example, as shown in FIG. 6, in the manned traveling area 2, when the forklift 1 (F) is traveling toward the rack warehouse 4 in addition to the forklift 1 (A), the forklift 1 (C) is The 1 (F) wireless signal may be received first to automatically travel from the standby position Q6 to the standby position P6. Therefore, two units, forklift 1 (B) and forklift 1 (C), may come out from the rack warehouse 4. At this time, the operator of the forklift 1 (A) determines which forklift 1 (B), 1 (C) is the next forklift 1 to be transferred, that is, which first of the forklift 1 (A) after getting off the forklift 1 (A). I do not know whether to move to the standby positions P3 and P6.

  Therefore, the operator of the forklift 1 (A) confirms the display “B 3 lane” on the display means 13 so that the forklift 1 to be transferred is not the forklift 1 (C) but the forklift 1 (B). It can be seen that it is only necessary to move to the first waiting position P3 of 3 lanes and change trains. In this way, by displaying the specific information that can identify the first standby position P where the forklift 1 to be transferred next waits on the display means 13, even if a plurality of forklifts 1 comes out of the rack warehouse 4, the operator can It is possible to move to the forklift 1 to be transferred without hesitation. On the display means 13 of the forklift 1 (F), “C6 lane” is displayed as specific information that allows the operator of the forklift 1 (F) to specify the first standby position P6 of the forklift 1 (C).

  The size of the predetermined distance range 7 of the transmission means 60 is appropriately selected according to the number of forklifts 1 used in the transport system, the size of the rack warehouse 4, the number of lanes L, and the like. The size is not limited.

1 Forklift 10 Switching means 13 Display means 2 Manned traveling area (outside rack warehouse)
3 Unmanned driving area (in rack warehouse)
4 Rack warehouse 41 Entrance / exit of rack warehouse 6 Radio 60 Transmitting means 61 Receiving means 7 Predetermined distance range L Lane P First standby position Q Second standby position W Workpiece

Claims (3)

A plurality of forklifts capable of switching between a manned operation mode and an unmanned operation mode, a manned travel area in which the forklift travels in the manned operation mode, and an unmanned travel area in which the forklift travels in the unmanned operation mode, The forklift is a transport system that transports workpieces between the manned travel area and the unmanned travel area.
A transmission means provided on the forklift for transmitting a radio signal to a predetermined distance range; a reception means provided on the forklift for receiving the radio signal transmitted by the transmission means of the other forklift; and the manned A plurality of first standby positions provided on the manned travel area side along the entrance / exit between the travel area and the unmanned travel area, and a plurality of second standby positions provided on the unmanned travel area side along the entrance / exit A standby position,
The forklift working in the manned traveling area transmits the wireless signal, the forklift in the unmanned traveling area waits at the second standby position after transporting the workpiece, and waits at the second standby position. Among the forklifts, the forklift that first receives the wireless signal travels from the second standby position to the first standby position in the unattended operation mode. The forklift includes display means for displaying information received by the receiving means,
2. The transport according to claim 1, wherein the display unit of the forklift in the manned traveling area displays specific information for identifying the first standby position of the forklift that has received the wireless signal first. system.   The transport system according to claim 1, wherein the manned traveling area is outside a warehouse and the unmanned traveling area is inside a warehouse.

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