JP5429204B2 - Transport vehicle - Google Patents

Description

  The present invention relates to a transport vehicle for transporting a load placed by a transfer device or the like.

  2. Description of the Related Art Conventionally, a transport vehicle that transports loads is widely known. For example, Patent Document 1 describes a method of placing a transported luggage using an unmanned forklift. This forklift is equipped with a fork that functions as a placement part for placing the load, and lifts the load stacked in multiple stages on the pallet by raising the fork inserted in the side hole of the pallet. This is one of the transport vehicles for transporting a load by moving a fork laterally while the load is placed on the bag.

  In addition, transport that does not have a transfer function, such as transporting the load placed on the placement unit by the transfer device to the destination and then unloading the load by the transfer device provided at the destination There is also a car.

Japanese Patent Laid-Open No. 08-169699

  When a package is placed on a transport vehicle as described above and the package is transported, the loaded load is shaken due to acceleration or deceleration of the transport vehicle, and the collapse of the load or the load falls from the loading section of the transport vehicle. Such a problem may occur.

  In particular, in the case of automated guided vehicles that automatically transport packages, if the loaded packages fall from the transport vehicles and block the transport route, the operation of other automated guided vehicles will be greatly affected, and the entire factory. There are also concerns such as the slowdown of operations.

  On the other hand, it is conceivable to install a fall prevention wall around the loading part of the transport vehicle, but when the load is transferred between the transport vehicle and the station, the wall becomes an obstacle and the transfer efficiency is reduced. Is significantly reduced.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a transport vehicle that can prevent a loaded load from falling without reducing the load transfer efficiency.

  In order to achieve the above object, a transport vehicle according to the present invention is a transport vehicle including a main body portion and a placement portion on which a load to be transported is placed, and is disposed on a side of the placement portion. The fall prevention body for preventing the fall of the luggage from the placement section, and the fall prevention body between the appearance position disposed on the side of the placement section and the retracted position disposed on the main body section side. And a conversion means for converting.

  According to this, when transferring a load between the transport vehicle and another place, the fall prevention body is placed in the retracted position by the conversion means so that the fall prevention body does not get in the way and is high. It is possible to maintain the loading efficiency, and it is possible to prevent the falling of the load being transferred by arranging the fall prevention body at the appearance position when the load is transported.

  Furthermore, you may provide the load collapse detection sensor which is provided in the said fall prevention body and detects the load collapse of the load mounted in the said mounting part.

  According to this, it is possible to detect a collapsed state before the package falls, for example, by stopping the transport vehicle using the detection of the collapsed state as a trigger, so that the collapsed state does not worsen more than the current situation. Can be separately provided. In addition, it is possible to adjust the operation in the factory by notifying other transport vehicles or the like that the cargo has collapsed.

  Furthermore, it is an obstacle sensor which detects the surrounding obstacle, Comprising: You may provide the obstacle sensor attached to the said fall prevention body and arrange | positioned far from the said mounting part from the said main-body part.

  As a result, even when a package is transported, it is possible to detect obstacles around the transport vehicle without causing the loaded package to get in the way.

  The placement unit is disposed on a side of the body unit, and the fall prevention body has the body unit or the placement unit in a direction perpendicular to an arrangement direction of the body unit and the placement unit. Two plate-like members arranged so as to be sandwiched, wherein the conversion means slides the fall prevention body in the direction in which the main body portion and the mounting portion are arranged to retract the fall prevention body from the appearance position. It may be switched between positions.

  According to this, even if two plate-like fall prevention bodies are provided, the fall prevention body can be disposed within the rotation radius of the transport vehicle, and the transport vehicle can be used without any trouble even when the fall prevention body is in the retracted position. Can be run.

  According to the present invention, it is possible to prevent a load from falling from a transport vehicle while suppressing a decrease in transfer efficiency.

FIG. 1 is a perspective view showing a transport vehicle in which a fall prevention body is disposed at a retreat position. FIG. 2 is a perspective view showing the transport vehicle when a load is loaded. FIG. 3 is a perspective view showing the transport vehicle in which the fall prevention body is arranged at the appearance position. FIG. 4 is a perspective view showing the transport vehicle in which the fall prevention body is disposed at the retreat position. FIG. 5 is a perspective view showing the transport vehicle in which the fall prevention body is arranged at the appearance position.

  Next, an embodiment of a transport vehicle according to the present invention will be described with reference to the drawings. In addition, the following embodiment is only what showed an example of the conveyance vehicle which concerns on this invention. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments.

  FIG. 1 is a perspective view showing a transport vehicle in which a fall prevention body is disposed at a retreat position.

  FIG. 2 is a perspective view showing the transport vehicle when a load is loaded.

  FIG. 3 is a perspective view showing the transport vehicle in which the fall prevention body is arranged at the appearance position.

  As shown in these drawings, the transport vehicle 100 is a vehicle capable of transporting the loaded luggage 200 in the horizontal direction (in the XY plane), and includes a main body portion 101, a placement portion 102, a drop. The prevention body 103, the conversion means 104, the load collapse detection sensor 105, and the obstacle sensor 106 are provided.

  In the present embodiment, the transport vehicle 100 is an automatic guided vehicle provided with a forklift. The main body 101 of the transport vehicle 100 is a part for moving the entire transport vehicle 100 in the horizontal direction, and a driving wheel and an auxiliary wheel (not shown) are provided at the lower portion of the main body 101, The main body 101 communicates with a drive device (not shown) for driving the drive wheels, a control device (not shown) for running independently, and a central control system (not shown). A communication device (not shown) or the like is provided.

  The placement unit 102 of the transport vehicle 100 is a portion on which the luggage 200 to be transported is placed. In the present embodiment, the placement unit 102 is disposed on the side (Y-axis direction) of the main body 101 and the pallet 201. Two forks 121 extending in the Y-axis direction for lifting and placing the load 200 and placing them, a lift drive source 122 for freely driving the forks 121 in the vertical direction (Z-axis direction), and a fork 121 Two fork guides 123 extending in the vertical direction and guided in the vertical direction (Z-axis direction) are arranged side by side in the X-axis direction.

  As described above, the transport vehicle 100 can transfer the load 200 and can transport the load 200 by the vertical movement of the fork 121 and the horizontal movement of the transport vehicle 100 itself. Yes.

  The fall prevention body 103 is a member that is disposed on the side of the placement unit 102 and prevents the luggage 200 from dropping from the placement unit 102.

  In the case of the present embodiment, the fall prevention body 103 has a direction (X-axis direction) perpendicular to the alignment direction (Y-axis direction) between the main body 101 and the mounting portion 102 on the side of the main body 101 in the Y-axis direction (X It is composed of two plate members 131 arranged so as to sandwich the main body portion 101 or the mounting portion 102 on both sides (in the axial direction). Further, the fall prevention body 103 includes a reinforcing member 132 attached to the upper part of the two plate members 131 in a bridge shape. The reinforcing member 132 contributes to improving the rigidity of the fall prevention body 103, in particular, the rigidity for resisting the force generated when the luggage 200 collapses. Further, the fall prevention body 103 is slidably attached to the main body 101 via the conversion means 104.

  The fall prevention body 103 is not limited to a plate-like member, but may be a net-like member, a lattice-like member, or a combination thereof. Further, the plate member 131 may be provided with holes for weight reduction.

  Further, the reinforcing member 132 may be not only a plurality of rod-like members but also a plate-like member that covers the upper surface of the fall prevention body 103.

  The conversion unit 104 is a device that converts the fall prevention body 103 between an appearance position arranged on the side of the placement unit 102 and a retracted position arranged on the main body unit 101 side.

  In the case of the present embodiment, the conversion means 104 slides the fall prevention body 103 in the alignment direction (Y-axis direction) of the main body 101 and the placement section 102 to change the fall prevention body 103 between the appearance position and the retracted position. The first rail 141 (see FIG. 3) attached to the main body 101, the second rail 142 (see FIG. 3) attached to the fall prevention body 103, and the first rail 141 Drive means (not shown) for sliding the second rail 142 is provided. Further, the conversion means 104 includes two slide means, each of which is a set of the first rail 141 and the second rail 142, per plate member 131. Thereby, it becomes possible to sufficiently resist the case where the attachment strength of the plate member 131 is improved and the heavy luggage 200 is collapsed. Moreover, the operation | movement which changes the fall prevention body 103 by a slide between a retracted position and an appearance position can be made smooth.

  The load collapse detection sensor 105 is a sensor that is provided in the fall prevention body 103 and detects the load collapse of the load 200 placed on the placement unit 102. In the case of the present embodiment, the load collapse detection sensor 105 is constituted by a bar-shaped contact sensor, and is attached to the inside of the plate member 131 so as to extend in the vertical direction (Z-axis direction). In addition, three rod-shaped contact sensors that are the load collapse detection sensors 105 are attached to one plate member 131. This is for effective detection even when a load collapse occurs in a part of the luggage 200.

  In the case of the present embodiment, the signal detected by the load collapse detection sensor 105 is acquired by the control device provided in the main body 101, and when the control device determines that the load collapse has occurred based on the signal, All physical operations of the transport vehicle 100, such as the travel operation of the transport vehicle 100 and the operation of moving the fork 121 up and down, are stopped. Thereby, since the operation of the transport vehicle 100 can be stopped in a state before the luggage 200 falls from the transport vehicle 100, the load 200 does not fall from the transport vehicle 100, and another transport is performed by the dropped luggage 200. It can avoid affecting the car.

  The load collapse detection sensor 105 may be not only a contact sensor but also a non-contact sensor using light or ultrasonic waves.

  The obstacle sensor 106 is a sensor that detects an obstacle that appears around the transport vehicle 100, and is a sensor that is attached to the fall prevention body 103 and is arranged farther from the main body portion 101 than the placement portion 102. .

  In the case of the present embodiment, the obstacle sensor 106 is attached to an intermediate portion of the reinforcing member 132 of the fall prevention body 103. Accordingly, when the luggage 200 is transported, the fall prevention body 103 is changed to the appearance position, so that the obstacle sensor 106 is disposed farther than the luggage 200 on which the obstacle sensor 106 is placed. Therefore, it is possible to detect an obstacle around the transport vehicle 100 without the baggage 200 placed on the fall prevention body 103 getting in the way.

  The attachment position of the obstacle sensor 106 is not limited to the reinforcing member 132 and may be attached to an arbitrary place of the fall prevention body 103. A plurality of obstacle sensors 106 may be attached.

  Further, as the obstacle sensor 106, a laser beam is rotated in a horizontal plane, and a sensor for detecting the presence or position of an obstacle based on the presence or absence or strength of the reflected light is acquired. The sensor which judges presence or absence and a position can be illustrated.

  According to the transport vehicle 100 described above, as shown in FIG. 1, the fork 121 is inserted into the pallet 201 by changing the fall prevention body 103 to the retracted position near the side of the main body 101 ( The fall prevention body 103 interferes with the operation of moving the state shown in FIG. 1 to the state shown in FIG. 2 and the operation of extracting the fork 121 from the pallet 201 (the operation of changing the state shown in FIG. 2 into the state shown in FIG. 1). It becomes feasible without becoming. Accordingly, it is possible to suppress the decrease in the load transfer efficiency as much as possible. Further, when the transport vehicle 100 is moved while the luggage 200 is placed and the luggage 200 is transported, the fall prevention body 103 is moved to the appearance position (the state shown in FIG. 3) on the side of the placement section 102. By converting, even when the luggage 200 collapses, the luggage 200 can be held without dropping from the transport vehicle 100. In addition, the load collapse detection sensor 105 can detect the load collapse and stop the operation of the transport vehicle 100. Therefore, it is possible to avoid as much as possible that the fallen baggage 200 is scattered on the floor surface and hinders the passage of other transport vehicles and affects the operation of the factory.

  Further, when the baggage 200 is transported, the obstacle sensor 106 is disposed in front of the baggage 200, so that it is possible to detect an obstacle in a wide range without the baggage 200 being in the way.

  In addition, this invention is not limited to the said embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.

  For example, the transport vehicle 100 does not need to include a forklift that combines the transfer device and the mounting unit 102 as in the above-described embodiment, and the main body unit 101 as illustrated in FIGS. The placement unit 102 may be provided above, and the load 200 may be transferred to the placement unit 102 by another transfer device.

  In this case, the transport vehicle 100 includes a main body portion 101 for moving the entire transport vehicle 100 in the horizontal direction (in the XY plane), a placement portion 102 disposed on the upper portion of the main body portion 101, and the placement portion 102. It includes a fall prevention body 103 surrounding the periphery, and further includes a conversion means (not shown) and a load collapse detection sensor. In addition, the transport vehicle 100 includes an obstacle sensor 106 that is attached to the upper portion of the fall prevention body 103 and is disposed farther from the main body 101 than the placement unit 102.

  The fall prevention body 103 is a member that is disposed on the side of the placement unit 102 and prevents the luggage 200 from dropping from the placement unit 102. The arrangement direction of the main body unit 101 and the placement unit 102 (Z-axis direction) ) Is slidably attached to the main body 101 through the conversion means.

  The retreat position of the fall prevention body 103 is inside the main body 101 (see FIG. 5), and is changed between the appearance position (see FIG. 4) by the conversion means provided inside the main body 101. It has become.

  In this case, the load collapse detection sensor is provided between the fall prevention body 103 and the conversion means 104, and detects the tilt of the fall prevention body 103 when the load 200 that caused the load collapse leans against the fall prevention body 103. Sensor.

  The obstacle sensor 106 can be disposed above the baggage 200 on which the obstacle sensor 106 is placed by moving the fall prevention body 103 and switching to the appearance position when the baggage 200 is transported. It is. Therefore, it is possible to detect obstacles in a wide range (for example, the entire periphery of the transport vehicle 100) with a small number (for example, one) of obstacle sensors 106.

  The present invention can be suitably used for a transport vehicle that transports luggage, and particularly, an automatic transport vehicle that operates in an unmanned warehouse.

DESCRIPTION OF SYMBOLS 100 Carrier vehicle 101 Main body part 102 Placement part 103 Fall prevention body 104 Conversion means 105 Detection sensor 106 Obstacle sensor 121 Fork 122 Lift drive source 123 Fork guide 131 Plate member 132 Reinforcement member 141 First rail 142 Second rail 200 Luggage 201 palette

Claims (3)

A transport vehicle including a main body and a placement portion on which a load to be transported is placed;
A fall prevention body that is arranged on the side of the placement unit and prevents the luggage from falling from the placement unit;
A conversion means for converting the fall prevention body between an appearance position arranged on the side of the placement unit and a retracted position arranged on the main body side ;
The main body is a portion provided with a driving device for moving the transport vehicle in the horizontal direction,
The placing portion is disposed on a side of the main body portion, and the fork is arranged to extend in the arrangement direction of the main body portion for lifting and placing a load and the placing portion, and the fork in the vertical direction. A lift drive source that freely drives, and a fork guide that guides the fork in the vertical direction,
The fall prevention body is two plate-like members arranged in a vertically extending state so as to sandwich the main body part or the mounting part in a direction perpendicular to the arrangement direction of the main body part and the mounting part. Is a member,
The conversion means is attached between the main body portion and the fall prevention body, and the fall prevention body is slid in the alignment direction of the main body portion and the mounting portion to place the fall prevention body on the fork side. A transport vehicle that switches between an appearance position that is a side and a retreat position that is a side of the main body . further,
The transport vehicle according to claim 1, further comprising a load collapse detection sensor that is provided on the fall prevention body and detects a load collapse of a load placed on the placement unit. further,
An obstacle sensor for detecting surrounding obstacles,
The conveyance vehicle of Claim 1 or Claim 2 provided with the obstacle sensor attached to the said fall prevention body, and arrange | positioned farther than the said mounting part from the said main-body part.

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