JP6677153B2 - Transport trolley - Google Patents

Description

  The present invention relates to a transport trolley provided with a support section that supports a pallet, a traveling section that travels along a traveling direction, and a pallet detection device.

A conventional example of such a transport vehicle is described in JP-A-2006-016986 (Patent Document 1). In the transport trolley of Patent Literature 1, detection devices are arranged at both ends in the traveling direction of the traveling section. When the pallet is transported by the transport trolley, the pallet is moved to a position directly below the pallet, and then the support is raised, the pallet is supported by the support, and the pallet is supported by the support. Section and run the pallet. Some pallets are provided at the bottom thereof with bars provided in a grid along the running direction and the lateral direction.
When a pallet provided with the above-described crosspiece is transported by a transport trolley, the traveling unit may be stopped at a position immediately below the pallet as follows. That is, at the front and rear ends of the pallet, there are crosspieces extending along the lateral direction. For this reason, when the traveling unit is traveling directly below the pallet, the traveling unit may be stopped in response to the detection of the beam by the optical sensor, and the traveling unit may be stopped immediately below the pallet.

JP-A-2006-016986

However, there is a case where the thickness of the crosspiece along the lateral direction located at the front end or the rear end of the pallet is formed to be thin. If the crosspiece is formed to be thin, when the running section is stopped immediately below the pallet as described above, the crossbeam cannot be detected by the optical sensor. May deviate from a predetermined position and stop. As described above, it may be difficult to detect the pallet properly by the detecting device.
Therefore, it is desired to realize a transport trolley that can easily detect a pallet with a detection device.

In view of the above, the characteristic configuration of the transport trolley is a transport trolley including a support unit that supports the pallet, a traveling unit that travels along the traveling direction, and a detection device for pallet detection,
The direction perpendicular to the traveling direction as seen in the vertical direction of the bogie is defined as a lateral direction, one side of the traveling direction is defined as a first traveling direction, and the upward direction of the bogie vertical direction is defined as the bogie upper direction, A bar provided in a lattice shape along the traveling direction and the lateral direction is provided at a bottom portion, and the detection device includes an optical sensor and a reflector, and the first traveling direction in the traveling portion is provided. And the optical sensor emits detection light in at least a first detection direction and a second detection direction in a detection plane along the traveling direction and the up-down direction of the bogie, and the first detection direction Is a direction between the first traveling direction and the bogie upper direction, and the second detection direction is the bogie upper direction, or a direction between the bogie upper direction and the first detection direction. The reflection plate is provided from the optical sensor. A position deviating from the optical path of the detection light projected in the first detection direction, and being disposed at a position crossing the optical path of the detection light projected in the second detection direction from the optical sensor; The point is that the detection light projected from the optical sensor in the second detection direction is reflected in a direction inclined at an angle of less than 90 ° with respect to the bogie upper direction when viewed in the traveling direction.

  According to these characteristic configurations, since the detection light is emitted from the optical sensor in a direction (first detection direction) between the first traveling direction and the upward direction of the bogie, the upward direction of the bogie relative to the traveling portion is detected. The pallet located and located in the first traveling direction with respect to the traveling section can be detected. In addition, since the detection light is emitted from the optical sensor in the upward direction of the trolley or in the direction between the upward direction of the trolley and the first detection direction (second detection direction), the detection in the first detection direction is performed. It is possible to detect a pallet located closer to the traveling section in the traveling direction than a pallet detected by light.

Then, the detection light projected in the second detection direction is reflected by the reflector in a direction inclined at an angle of less than 90 ° with respect to the upward direction of the bogie when viewed in the traveling direction. The direction of the reflected detection light is a direction inclined with respect to the side surface of the crosspiece along the traveling direction on the pallet (the surface along the bogie vertical direction and the traveling direction). Therefore, it is possible to detect the side surface of the crosspiece along the traveling direction on the pallet by the detection light emitted from the optical sensor in the second detection direction.
Therefore, when the detection light is emitted from the optical sensor in the second detection direction to detect the end of the pallet in the traveling direction, the beam along the traveling direction located at the end of the pallet in the traveling direction is long. , It is easy to appropriately detect the end of the pallet in the traveling direction by the detecting device. As described above, the detection device can easily detect the pallet appropriately.

Perspective view showing the outline of the article transport facility Perspective view of transport trolley Front view of the transport trolley with the support part located at the lowered position Front view of the transport trolley with the support part at the raised position Control block diagram Operational diagram showing the operation of the transport trolley when storing articles Operational diagram showing the operation of the transport cart when unloading articles Perspective view of pallet viewed from below Side view showing a state where a pallet is detected by the first optical sensor Side view showing a state where a pallet is detected by the second optical sensor A longitudinal sectional front view showing a state where a pallet is detected by a second optical sensor. Cross-sectional side view showing a state where a pallet is detected by the second optical sensor

Hereinafter, an embodiment in which a transport cart is used for an article transport facility will be described with reference to the drawings.
As shown in FIG. 1, the article transport facility of the present embodiment includes an article storage shelf 1 that stores a pallet P (see FIG. 3 and the like) and a transport cart 3 that transports the pallet P in the article storage shelf 1. I have. The pallet P includes a case where a load is placed and a case where no load is placed. Only the pallet P where no load is placed is illustrated. The loading and unloading of the articles W to and from the article storage shelves 1 is performed by a cargo handling vehicle such as a forklift 20 driven and operated by an operator.

  Specifically, when the pallet P is stored in the article storage shelf 1, the pallet P is stacked on the end of the article storage shelf 1 (the end in the second direction X2) by the forklift 20. When unloading the pallet P from the article storage shelf 1, the pallet P placed at the end of the article storage shelf 1 is lowered by the forklift 20. The transport trolley 3 travels on the article storage shelves 1 to transport the articles W on the article storage shelves 1 and stores the articles W sequentially from the opposite end (the end in the first direction X1) of the article storage shelves 1. To store the pallet P in the article storage shelf 1. Note that the forklift 20 also loads and unloads the transport trolley 3 from the article storage shelf 1.

  A plurality of article storage shelves 1 are installed in an article warehouse 10 of the article transport facility. The article storage shelves 1 are arranged in a plurality of stages in the vertical direction Z and are arranged in a plurality of rows in the width direction Y. In FIG. 1, for simplicity, an example is shown in which the article storage shelves 1 are formed in two stages in the vertical direction Z and two rows in the width direction Y, and a total of four article storage shelves 1 are installed in the article warehouse 10. ing.

  As shown in FIG. 1, the article warehouse 10 has a column 11 erected in the vertical direction Z, and a beam member 13 supported by the column 11 and extending in the front-rear direction X. The columns 11 are erected at a slightly wider interval than the width of the pallet P in a width direction Y orthogonal to the front-rear direction X, and the article storage shelf 1 is formed between the pair of columns 11. The beam members 13 are supported by columns 11 arranged in the front-rear direction X. The beam members 13 are attached to the pair of columns 11 so as to face each other. A pallet support surface 13H is formed on the upper surfaces of the pair of beam members 13 extending in the front-rear direction X, and both ends of the pallet P in the width direction Y are supported by the pallet support surface 13H. A plurality of article storage shelves 1 are formed in the vertical direction Z by attaching the pair of beam members 13 to the column 11 at predetermined intervals (height intervals) in the vertical direction Z.

  As described above, the article storage shelf 1 is configured to include a pair of the beam members 13 along the front-rear direction X at intervals in the width direction Y. The article storage shelf 1 is configured to store the pallets P in a state where the pallets P are placed and supported on the pallet support surfaces 13H formed by the upper surfaces of the pair of beam members 13. In addition, the article storage shelf 1 is configured to store a plurality of pallets P arranged side by side in the front-rear direction X.

As shown in FIGS. 1 and 2, the carrier 3 is supported by the pair of beam members 13 below the pallet support surface 13 </ b> H of the beam members 13 in the vertical direction Z. Specifically, a bogie support surface 13V is formed below the pallet support surface 13H of the beam member 13 so that the pair of beam members 13 protrude in the directions facing each other.
The beam member 13 has a hook-shaped (Z-shaped) cross section, and the pallet support surface 13H and the trolley support surface 13V are substantially parallel to each other, and the vertical direction Z is set so as to connect the pallet support surface 13H and the trolley support surface 13V. Is formed at right angles to the pallet support surface 13H and the trolley support surface 13V. The transport cart 3 is supported by the cart support surface 13V.
Since the article storage shelves 1 are formed in a plurality of stages and in a plurality of rows in the article warehouse 10, the article warehouse 10 is provided with a plurality of traveling routes C on which the transport cart 3 travels.

  Next, the transport trolley 3 will be described. The description will be made based on a state where the transport trolley 3 is installed on the article storage shelf 1. That is, the traveling direction of the transport vehicle 3 and the front-back direction X are the same direction, the lateral direction of the transport vehicle 3 and the width direction Y are the same direction, and the vertical direction of the transport vehicle 3 and the vertical direction Z are the same. It is. Also, one direction in the front-rear direction X will be referred to as a first direction X1 (first traveling direction), and a direction opposite to the first direction X1 will be referred to as a second direction X2 (second traveling direction). The upward direction of the vertical direction Z will be described as an upward direction Z1.

As shown in FIGS. 3 and 4, the transport trolley 3 includes a support portion 33 that supports the pallet P and a traveling portion 31 that travels in the front-rear direction X.
The traveling section 31 includes a traveling wheel 3D that rolls on the bogie support surface 13V, and a guide wheel 3G that rolls by contacting the side wall 13G. The running wheels 3D are provided in a pair in the width direction Y so as to roll on the bogie support surface 13V of each of the pair of beam members 13, and the running wheels 3D are arranged in the front-rear direction X. Two sets are provided in a state. A pair of guide wheels 3G are provided in a state in which they are arranged in the width direction Y so as to contact and roll on the side surfaces of each of the pair of beam members 13, and the pair of guide wheels 3G are arranged in the front-rear direction X. There are two sets.
The transport cart 3 travels along the travel route C while being guided in the front-rear direction X by the guide wheels 3G coming into contact with the beam members 13 when a set of traveling wheels 3D are rotationally driven by the traveling motor 46. I do.

The traveling unit 31 is provided with a lifting motor 48 that raises and lowers the support unit 33. The support portion 33 is driven by the elevating motor 48 to move the pallet P below the pallet support surface 13H by lowering the pallet P below the pallet support surface 13H (see FIG. 3). It moves up and down to the ascending position (see FIG. 4) where it is placed and supported.
When traveling with the pallet P supported (in the actual load state), the transport trolley 3 travels along the traveling path C with the support portion 33 raised to the raised position. When traveling in a state in which the pallet P is not supported (empty state), the transport trolley 3 travels along the traveling path C with the support portion 33 lowered to the lowered position.

As shown in FIG. 5, an end detection device 51, a pallet detection device 52, and a distance detection device 53 are installed on the transport trolley 3. The end detecting device 51 detects a distance from an end of the traveling route C. The pallet detection device 52 detects whether or not the pallet P exists above the carriage 3 or in front and above the traveling direction. The distance detecting device 53 measures the traveling distance of the transport trolley 3.
As the end detecting device 51, a first end detecting device 51A installed at an end of the traveling portion 31 in the first direction X1 and a second end detecting device installed at an end of the traveling portion 31 in the second traveling direction. And a device 51B. The first end detection device 51A detects the distance to the detection plate 14 provided at the end of the traveling route C on the first direction X1 side. The second end detection device 51B detects the distance to the detection plate 14 provided at the end on the second direction X2 side of the traveling route C.
The pallet detecting device 52 includes a first pallet detecting device 52A installed at an end of the traveling section 31 in the first direction X1, and a second pallet detecting device installed at an end of the traveling section 31 in the second direction X2. Device 52B. The first pallet detection device 52A detects whether the pallet P exists above the end of the traveling section 31 in the first direction X1 or in the first direction X1 of the traveling section 31. The second pallet detection device 52B detects whether the pallet P exists above the end of the traveling section 31 in the second direction X2 or in the second direction X2 of the traveling section 31.

The article transport equipment is provided with a remote controller 7 (see FIG. 5) for remotely operating the transport cart 3. The carrier 3 is remotely operated by an operator operating the remote controller 7. Note that the remote controller 7 is installed in the article warehouse 10 or the forklift 20.
The transport cart 3 includes a communication unit 41 and a control unit 43. The communication section 41 receives a signal from the remote controller 7. The control unit 43 acquires the detection results obtained by the various sensors described above (the edge detection device 51, the pallet detection device 52, and the distance detection device 53), and controls the driving of the traveling motor 46 and the lifting motor 48. Further, the control unit 43 is configured to, upon receiving an operation command from the remote controller 7 via the communication unit 41, control the carrier 3 based on the operation command.

  The traveling route C on which the transport carriage 3 travels is formed in an end shape, and is formed between the pair of beam members 13 along the front-rear direction X. As shown in FIG. 7 and the like, a first position T1 is set at one end of the travel route C in the second direction X2, and the other end of the travel route C is in the first direction X1. The second position T2 is set in the section. In the present embodiment, the first position T1 is a position where the pallet P is loaded and unloaded by the forklift 20.

The operation of the transport trolley 3 when the control unit 43 controls the transport trolley 3 based on the storage operation command (storage instruction) will be described.
As shown in FIG. 6, one pallet P (P1) is already stored in the article storage shelf 1. The transport cart 3 is stopped at the first position T1 [# 1]. The operator places the pallet P (P2) at the first position T1 of the article storage shelf 1 using the forklift 20 [# 1 to # 2].
In such a situation, when the operator presses the storage instruction key of the remote controller 7, a storage command is output from the remote controller 7 to the transport trolley 3, and the storage instruction is received by the communication unit 41 of the transport trolley 3. To the control unit 43, and the control unit 43 executes a storage process. In the warehousing process, the transport trolley 3 operates as follows.

In other words, after the trolley 3 confirms that the article W is placed at the first position T1 by the pallet detecting device 52, the carrier 3 raises the support 33 to the raised position, and moves the pallet P (P2) to the support 33. [# 3]. Then, the transport trolley 3 travels forward from the first position T1 in the actual load state. When the first pallet detection device 52A detects the already stored articles W (W1), the transport trolley 3 decelerates, and moves between the already stored articles W (W1) and the articles W (W2) to be stored. It stops with a predetermined gap (distance between articles) provided [# 3 to # 4]. Incidentally, at this time, the position at which the transport cart 3 stops is the third position T3.
Next, the transport trolley 3 lowers the support portion 33 to the lowering position [# 4 to # 5], and supports the pallet P (P2) on the pallet support surface 13H of the beam member 13, and stores the articles on the article storage shelf 1. Pass W. The transport trolley 3 travels backward in the second direction X2 in an empty state, and stops at the first position T1 based on the distance information detected by the end detection device 51 [# 5 to # 6].

Next, an operation of the transport vehicle 3 when the control unit 43 controls the transport vehicle 3 based on an operation command for retrieval (delivery command) will be described.
As shown in FIG. 7, two pallets P (P1, P2) are already stored in the article storage shelf 1. The transport trolley 3 is stopped at the first position T1 [# 7].
In such a situation, when the worker presses the retrieval instruction key of the remote controller 7, a retrieval command is output from the remote controller 7 to the transport trolley 3, and the retrieval command is received by the communication unit 41 of the transport trolley 3. To the control unit 43, and the control unit 43 executes a retrieval process. In the unloading process, the transport trolley 3 operates as follows.

That is, the transport trolley 3 moves forward from the first position T1 in an empty state. Then, the transport trolley 3 decelerates in response to detecting the already stored pallets P (P2) by the first pallet detection device 52A, and the already stored pallets P (P2) by the second pallet detection device 52B. ) Is detected and stopped in a state where the traveling unit 31 is located immediately below the already stored pallet P (P2) [# 7 to # 8]. As described above, the control unit 43 controls the traveling unit 31 to stop the traveling unit 31 in a state where the support unit 33 is located immediately below the pallet P. Incidentally, at this time, the position at which the transport cart 3 stops is the third position T3.
Then, the support unit 33 is raised to the raised position, and the pallet P (P2) is transferred from the article storage shelf 1 to the support unit 33 [# 9]. The transport vehicle 3 travels backward in the actual load state in the second direction X2, stops at the first position T1 based on the distance information detected by the end detection device 51, and then lowers the support portion 33. Then, the article W (W2) is lowered to the first position T1 of the article storage shelf 1 [# 10 to # 11].

Next, the pallet P and the pallet detecting device 52 will be described. In describing the pallet P, description will be made based on a state where the pallet P is stored in the article storage shelf 1.
As shown in FIG. 8, the pallet P is a flat pallet, more specifically, a single-sided four-sided flat pallet. The pallet P is made of a resin material. At the bottom of the pallet P, there are provided bars 56 provided in a grid along the front-rear direction X and the width direction Y. In addition, the pallet P includes a top plate portion 57 forming the upper surface of the pallet P, a bottom plate portion 58 forming the lower surface of the pallet P, and a girder portion located between the top plate portion 57 and the bottom plate portion 58. 59 are provided. The bottom plate portion 58 corresponds to the bottom portion of the pallet P. By forming the bottom plate portion 58 in a mesh shape, the bars 56 provided in a lattice shape along the front-rear direction X and the width direction Y are provided at the bottom of the pallet P. Is provided.
The pallet P thus formed has an end face 60 facing the first direction X1 at an end in the first direction X1, and an end face facing the second direction X2 at an end in the second direction X2. 60 are provided. Further, at the bottom of the pallet P, in particular, at the end of the pallet P in the second direction X2, a first bar 56A formed by the bar 56 along the width direction Y and a bar 56 along the front-rear direction X are formed. And a second bar 56B.

  A first pallet detecting device 52A is disposed at an end of the traveling section 31 in the first direction X1. The first pallet detecting device 52A includes a first optical sensor 61 and a first reflecting plate 62. A second pallet detection device 52B is disposed at an end of the traveling section 31 in the second direction X2. The second pallet detecting device 52B includes a second optical sensor 63 and a second reflecting plate 64. The first pallet detecting device 52A corresponds to a first detecting device (detecting device) for detecting pallets, and the second pallet detecting device 52B corresponds to a second detecting device arranged in addition to the first detecting device. I do.

The first optical sensor 61 emits detection light in at least a first detection direction S1 and a second detection direction S2 in a detection plane along a front-rear direction X and a vertical direction Z. The first detection direction S1 is a direction between the first direction X1 and the upward direction Z1. The second detection direction S2 is the upward direction Z1.
The first optical sensor 61 will be described in further detail. In the present embodiment, as shown by phantom lines in FIGS. 9 and 10, the detection light is emitted in a range of 90 ° between the first direction X1 and the upward direction Z1. The detection light is emitted while gradually changing the light emitting direction. The direction in which light is projected toward the end face 60 of the pallet P located in the first direction X1 by the set distance with respect to the transport trolley 3 is defined as a first detection direction S1. Further, in a state where the end of the transport cart 3 in the first direction X1 is located directly below the end of the pallet P in the first direction X1, the direction in which light is projected toward the end of the pallet P in the first direction X1 is changed. , The second detection direction S2.

  The first optical sensor 61 is installed in the frame of the traveling unit 31. An opening 31A is formed in the traveling portion 31 from the first direction X1 to the upward direction Z1 with respect to the first optical sensor 61, and the detection light emitted from the first optical sensor 61 is used for the detection light emitted from the first optical sensor 61. The light is emitted to the outside of the traveling unit 31 through the. A first reflection plate 62 is detachably fixed to the first optical sensor 61 by a bolt or the like. That is, the first reflection plate 62 is fixed to the traveling section 31 via the first optical sensor 61. In addition, the first reflection plate 62 is configured to be detachable from the traveling unit 31 by providing a fixed portion for fixing to the first optical sensor 61 using a fixing tool such as a bolt.

The first reflecting plate 62 is located at a position deviated from the optical path of the detection light emitted from the first optical sensor 61 in the first detection direction S1, and emits light from the first optical sensor 61 in the second detection direction S2. It is arranged at a position intersecting the optical path of the detected light to be detected. In other words, the detection light emitted from the first optical sensor 61 in the first detection direction S1 is not reflected by the first reflection plate 62, and the direction is not changed by the first reflection plate 62. On the other hand, since the detection light projected from the first optical sensor 61 in the second detection direction S2 is reflected by the first reflection plate 62, the direction is changed by the first reflection plate 62. Then, the first reflection plate 62 converts the detection light projected from the first optical sensor 61 in the second detection direction S2 (upward direction Z1) by less than 90 ° with respect to the upward direction Z1 when viewed in the front-rear direction X. The light is reflected in a direction inclined at an angle (specifically, a direction inclined by 40 ° with respect to the upward direction Z1).
The first reflection plate 62 is installed in a posture parallel to the front-back direction X and inclined with respect to the up-down direction Z. The first reflecting plate 62 is configured so that the inclination angle with respect to the upward direction Z1 can be changed. Therefore, the detection light emitted from the first optical sensor 61 in the second detection direction S2 is reflected within the set range (specifically, for example, within the range of 30 ° to 50 °) with respect to the upward direction Z1. The direction can be changed.

The second optical sensor 63 emits detection light in at least a third detection direction S3 and a fourth detection direction S4 in a detection plane along the front-rear direction X and the vertical direction Z. The third detection direction S3 is a direction between the second direction X2 and the upward direction Z1. The fourth detection direction S4 is the upward direction Z1.
The second optical sensor 63 will be described in further detail. As shown by phantom lines in FIGS. 9 and 10, the direction in which the detection light is projected in the range of 90 ° between the second direction X2 and the upward direction Z1 is gradually changed. The detection light is emitted while changing. The direction in which light is projected toward the end face 60 of the pallet P located in the second direction X2 with respect to the transport trolley 3 in the second direction X2 is defined as a third detection direction S3. In a state in which the end of the transport cart 3 in the second direction X2 is located directly below the end of the pallet P in the second direction X2, the direction in which light is projected toward the end of the pallet P in the second direction X2 is , The fourth detection direction S4.

  The second optical sensor 63 is installed in the frame of the traveling unit 31. An opening 31A is formed in the traveling portion 31 from the second direction X2 to the upward direction Z1 with respect to the second optical sensor 63, and the detection light emitted from the second optical sensor 63 is used for the opening 31A. The light is emitted to the outside of the traveling unit 31 through the. A second reflector 64 is detachably fixed to the second optical sensor 63 by a bolt or the like. That is, the second reflection plate 64 is fixed to the traveling unit 31 via the second optical sensor 63. In addition, the first reflection plate 62 is configured to be detachable from the traveling unit 31 by providing a fixed portion for fixing to the second optical sensor 63 using a fixing tool such as a bolt.

The second reflection plate 64 is located at a position deviated from the optical path of the detection light emitted from the second optical sensor 63 in the third detection direction S3, and emits light from the second optical sensor 63 in the fourth detection direction S4. It is arranged at a position intersecting the optical path of the detected light to be detected. In other words, the detection light projected from the second optical sensor 63 in the third detection direction S3 is not reflected by the second reflection plate 64, and the direction is not changed by the second reflection plate 64. On the other hand, the detection light projected from the second optical sensor 63 in the fourth detection direction S4 is reflected by the second reflection plate 64, and the direction is changed by the second reflection plate 64. Then, as shown in FIGS. 11 and 12, the second reflection plate 64 looks at the detection light projected from the second optical sensor 63 in the fourth detection direction S4 (upward direction Z1) in the front-rear direction X. The light is reflected in a direction inclined at an angle of less than 90 ° with respect to the upward direction Z1 (specifically, a direction inclined at 40 ° with respect to the upward direction Z1).
The second reflection plate 64 is installed in a posture parallel to the front-back direction X and inclined with respect to the vertical direction Z. The second reflecting plate 64 is configured so that the inclination angle with respect to the upward direction Z1 can be changed. For this reason, the detection light emitted from the second optical sensor 63 in the fourth detection direction S4 is reflected within a set range (specifically, for example, within a range of 30 ° to 50 °) with respect to the upward direction Z1. The direction can be changed.

Next, the control of the traveling unit 31 by the control unit 43 when the traveling unit 31 is stopped in a state where the support unit 33 is located immediately below the pallet P, as indicated by # 7 to # 8 in FIG. I do.
The control unit 43 controls the traveling unit 31 to start traveling the traveling unit 31 from the first position T1 in the first direction X1. That is, the control unit 43 controls the traveling unit 31 so that the traveling speed of the traveling unit 31 is accelerated to the first set speed, and after traveling to the first set speed, the traveling unit 31 travels at the first set speed.
Then, as shown in FIG. 9, the control unit 43 controls the traveling unit 31 so as to reduce the speed in response to the detection of the already stored pallets P by the first pallet detection device 52A. That is, the end face 60 of the pallet P already stored is detected by the first pallet detecting device 52A in a state where the first light sensor 61 in the first pallet detecting device 52A emits the detection light in the first detecting direction S1. Then, in response to this, the control unit 43 reduces the traveling speed of the traveling unit 31 to a second set speed lower than the first set speed, and after the speed is reduced to the second set speed, the control unit 43 performs the second set speed. The traveling unit 31 is controlled to travel.
Then, as shown in FIGS. 10 to 12, the control unit 43 controls the traveling unit 31 so as to stop in response to the detection of the already stored pallets P by the second pallet detection device 52B. That is, the end of the pallet P already stored by the second pallet detecting device 52B in the second direction X2 in a state where the second optical sensor 63 in the second pallet detecting device 52B emits the detection light in the fourth detecting direction S4. (Specifically, a side surface facing the width direction Y of the bar 56 along the front-rear direction X located at the end of the pallet P in the second direction X2) is detected. And the control part 43 controls the driving | running | working part 31 according to this, so that the driving | running | working part 31 may be stopped.

  Thus, when the traveling unit 31 is traveling in the first direction X1, the control unit 43 reduces the traveling speed of the traveling unit 31 in response to the detection of the pallet P by the first optical sensor 61. When the pallet P is detected by the second optical sensor 63, the traveling unit 31 is stopped, and the traveling unit 31 is stopped in a state where the support unit 33 is located immediately below the pallet P. The control unit 43 also reduces the traveling speed of the traveling unit 31 in response to the detection of the pallet P by the second optical sensor 63 even when the traveling unit 31 is traveling in the second direction X2. Then, the traveling unit 31 is stopped in response to the detection of the pallet P by the first optical sensor 61, and the traveling unit 31 is stopped in a state where the support unit 33 is located immediately below the pallet P.

2. Other Embodiments Next, other embodiments of the transport vehicle will be described.

(1) In the above embodiment, the first pallet detecting device 52A and the second pallet detecting device 52B are provided in the above embodiment, but the first pallet detecting device 52A and the second pallet detecting device 52B Only one pallet detection device 52A may be provided. Incidentally, when only the first pallet detecting device 52A is provided, for example, when the traveling unit 31 is traveling in the first direction X1, the first pallet detecting device 52A emits the detection light in the first detecting direction S1. When the pallet P is detected by the first optical sensor 61, the traveling speed of the traveling unit 31 is reduced, and the pallet P is detected by the first optical sensor 61 in a state where the detection light is projected in the second detection direction S2. In response to the detection, the traveling unit 31 may be stopped after traveling the set distance.

(2) In the above embodiment, the second detection direction S2 is the upward direction Z1, but the second detection direction S2 may be a direction between the first detection direction S1 and the upward direction Z1. Similarly, the fourth detection direction S4 is set to the upward direction Z1, but the fourth detection direction S4 may be a direction between the third detection direction S3 and the upward direction Z1.

(3) In the above embodiment, a four-sided flat pallet of a single-sided type is used as the pallet P. However, a type of the pallet P to be transported by the transport cart 3 such as a two-sided flat pallet of a double-sided type is used. May be changed as appropriate. Further, the intervals and arrangement of the bars 56 of the pallet P may be appropriately changed.

(4) In the above-described embodiment, the first reflector 62 and the second reflector 64 are configured to be detachable from the traveling unit 31. However, the first reflector 62 and the second reflector 64 may be welded or the like. You may comprise so that attachment and detachment are not possible by fixing.
Further, in the above-described embodiment, the first reflector 62 and the second reflector 64 are configured so that the inclination angle with respect to the upward direction Z1 can be freely changed. However, the first reflector 62 and the second reflector 64 are connected to the upper direction Z1. May be configured such that the inclination angle with respect to is not changeable.

(5) In the above embodiment, the first light sensor 61 is configured to project the detection light in the first detection direction S1 and the second detection direction S2 by changing the direction in which the detection light is projected. However, the first optical sensor 61 may be configured to always emit the detection light in both the first detection direction S1 and the second detection direction S2. Similarly, the second optical sensor 63 may be configured to constantly emit the detection light in both the third detection direction S3 and the fourth detection direction S4.

(6) The configuration disclosed in each of the above-described embodiments can be applied in combination with the configuration disclosed in another embodiment as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be appropriately made without departing from the spirit of the present disclosure.

3. The outline of the above-described embodiment will be described below.

The transport vehicle includes a support unit that supports the pallet, a traveling unit that travels along the traveling direction, and a detection device for detecting the pallet,
The direction perpendicular to the traveling direction as seen in the vertical direction of the bogie is defined as a lateral direction, one side of the traveling direction is defined as a first traveling direction, and the upward direction of the bogie vertical direction is defined as the bogie upper direction, A bar provided in a lattice shape along the traveling direction and the lateral direction is provided at a bottom portion, and the detection device includes an optical sensor and a reflector, and the first traveling direction in the traveling portion is provided. And the optical sensor emits detection light in at least a first detection direction and a second detection direction in a detection plane along the traveling direction and the up-down direction of the bogie, and the first detection direction Is a direction between the first traveling direction and the bogie upper direction, and the second detection direction is the bogie upper direction, or a direction between the bogie upper direction and the first detection direction. The reflection plate is provided from the optical sensor. A position deviating from the optical path of the detection light projected in the first detection direction, and being disposed at a position crossing the optical path of the detection light projected in the second detection direction from the optical sensor; The detection light emitted from the optical sensor in the second detection direction is reflected in a direction inclined at an angle of less than 90 ° with respect to the bogie upper direction when viewed in the traveling direction.

  With such a configuration, the detection light is emitted from the optical sensor in a direction (first detection direction) between the first traveling direction and the upward direction of the bogie. A pallet positioned between the pallet and the traveling direction can be detected. In addition, since the detection light is emitted from the optical sensor in the upward direction of the trolley or in the direction between the upward direction of the trolley and the first detection direction (second detection direction), the detection in the first detection direction is performed. Pallets located closer to the traveling section in the traveling direction than pallets detected by light can also be detected.

Then, the detection light projected in the second detection direction is reflected by the reflector in a direction inclined at an angle of less than 90 ° with respect to the upward direction of the bogie when viewed in the traveling direction. The direction of the reflected detection light is a direction that intersects obliquely with respect to the side surface of the crosspiece along the traveling direction on the pallet (the surface along the bogie vertical direction and the traveling direction). Therefore, it is possible to detect the side surface of the crosspiece along the traveling direction on the pallet by the detection light emitted from the optical sensor in the second detection direction.
Therefore, when the detection light is emitted from the optical sensor in the second detection direction to detect the end of the pallet in the traveling direction, the beam along the traveling direction located at the end of the pallet in the traveling direction is long. , It is easy to appropriately detect the end of the pallet in the traveling direction by the detecting device. As described above, the detection device can easily detect the pallet appropriately.

  Here, a direction opposite to the first traveling direction is defined as a second traveling direction, and the detecting device disposed at an end of the traveling portion in the first traveling direction is referred to as a first detecting device. In addition, a second detection device is disposed at an end of the traveling portion in the second traveling direction, the second detection device includes a second optical sensor and a second reflector, and the second optical sensor is Projecting detection light in at least a third detection direction and a fourth detection direction in a detection plane along the traveling direction and the bogie vertical direction, wherein the third detection direction is the second traveling direction and on the bogie. Direction, and the fourth detection direction is the upward direction of the bogie, or the direction between the upward direction of the bogie and the third detection direction, and wherein the second reflection plate is Deviates from the optical path of the detection light projected from the two-light sensor in the third detection direction And is located at a position that intersects with the optical path of the detection light emitted from the second optical sensor in the fourth detection direction, and is emitted from the second optical sensor in the fourth detection direction. It is preferable that the detected light be reflected in a direction inclined at an angle of less than 90 ° with respect to the upward direction of the bogie when viewed in the traveling direction.

According to this configuration, the detection light emitted from the second optical sensor of the second detection device in the fourth detection direction is at an angle of less than 90 ° with respect to the bogie upper direction as viewed in the traveling direction by the second reflector. Is reflected in the direction inclined. Therefore, similarly to the first detection device, the pallet can be appropriately detected by the second detection device.
Further, in addition to disposing the first detection device at the end of the traveling portion in the first traveling direction, the second detection device is disposed at the end of the traveling portion in the second traveling direction. Detectors are arranged at both ends in the direction. Therefore, when the traveling unit is traveling toward the pallet, it becomes easy to appropriately stop the traveling unit at a position corresponding to the pallet in response to detection by the second detection device in addition to the first detection device.

  A control unit that controls the traveling unit so as to stop the traveling unit in a state where the support unit is located immediately below the pallet; wherein the optical sensor of the first detection device includes a first optical sensor. As the control unit, when the traveling unit is traveling in the first traveling direction, the traveling speed of the traveling unit is reduced according to the detection of the pallet by the first optical sensor, It is preferable that the traveling unit is stopped in response to the detection of the pallet by the second optical sensor.

  According to this configuration, since the first optical sensor emits the detection light in the first detection direction (the direction between the first traveling direction and the upward direction of the bogie), when the traveling unit travels close to the pallet. Further, the pallet located obliquely above the traveling portion in the first traveling direction can be detected by the first optical sensor. In addition, since the second optical sensor emits detection light in the fourth detection direction (the direction above the trolley or the direction between the direction above the trolley and the third detection direction), the traveling unit travels below the pallet. In this case, the pallet located above the traveling portion can be detected by the second optical sensor. When the pallet is detected by the second optical sensor, the traveling speed of the traveling unit is reduced, so that the pallet is easily detected by the second optical sensor, and the traveling unit is appropriately positioned at a position corresponding to the pallet. It is easier to stop.

  Further, it is preferable that the reflection plate is configured to be capable of changing an inclination angle with respect to the bogie upper direction.

  According to this configuration, the position (lateral position) of the crosspiece along the traveling direction on the pallet may differ depending on the type of the pallet conveyed by the conveyance trolley. By changing the inclination angle of the pallet, even if the type of the pallet changes, the detection light can be appropriately applied to the side surface of the crosspiece.

  Further, it is preferable that the reflection plate is configured to be detachable from the traveling section.

  According to this configuration, by newly attaching the reflection plate to the transport trolley not provided with the reflection plate, it becomes easy to appropriately detect the pallet beam by the optical sensor. Further, when the rear end bar is formed sufficiently thick in the traveling direction, the weight of the carriage can be reduced and the configuration can be simplified by removing the reflection plate.

  The technology according to the present disclosure can be used for a transport trolley that transports pallets.

31: Traveling part 32: Support part 43: Control part 52A: First pallet detecting device (First detecting device, detecting device)
52B: Second pallet detecting device (second detecting device)
56: Beam 58: Bottom plate (bottom)
61: 1st optical sensor (optical sensor)
62: first reflection plate (reflection plate)
63: second optical sensor 64: second reflector P: pallet S1: first detection direction S2: second detection direction S3: third detection direction S4: fourth detection direction X: front-back direction (running direction)
X1: First direction (first traveling direction)
X2: second direction (second running direction)
Y: width direction (lateral direction)
Z: Vertical direction (trolley vertical direction)
Z1: Upward direction (trolley upward direction)

Claims (7)

A supporting unit that supports the pallet, a traveling unit that travels along the traveling direction, and a detection device for detecting the pallet, a transport trolley including:
A direction perpendicular to the traveling direction when viewed in the bogie vertical direction is defined as a lateral direction, one side of the traveling direction is defined as a first traveling direction, and an upward direction of the bogie vertical direction is defined as a bogie upward direction.
At the bottom of the pallet, a crosspiece provided in a grid along the traveling direction and the lateral direction is provided,
The detection device includes an optical sensor and a reflector, and is disposed at an end of the traveling unit in the first traveling direction.
The optical sensor emits detection light in at least a first detection direction and a second detection direction in a detection plane along the traveling direction and the bogie vertical direction,
The first detection direction is a direction between the first traveling direction and the bogie upper direction,
The second detection direction is the upward direction of the carriage, or a direction between the upward direction of the carriage and the first detection direction,
The reflection plate is located at a position deviated from an optical path of detection light emitted from the optical sensor in the first detection direction, and is an optical path of detection light emitted from the optical sensor in the second detection direction. Is disposed at a position intersecting with the light sensor, and reflects the detection light emitted from the optical sensor in the second detection direction in a direction inclined at an angle of less than 90 ° with respect to the bogie upper direction when viewed in the traveling direction. Transport trolley. The carrier according to claim 1, wherein the optical sensor is configured to change a direction in which the detection light is emitted to the first detection direction and the second detection direction. A direction opposite to the first traveling direction is defined as a second traveling direction, and the detecting device disposed at an end of the traveling portion in the first traveling direction is defined as a first detecting device,
In addition to the first detection device, a second detection device is disposed at an end of the traveling unit in the second traveling direction,
The second detection device includes a second optical sensor and a second reflection plate,
The second optical sensor emits detection light in at least a third detection direction and a fourth detection direction in a detection plane along the traveling direction and the bogie vertical direction,
The third detection direction is a direction between the second traveling direction and the bogie upper direction,
The fourth detection direction is the upward direction of the bogie, or a direction between the upward direction of the bogie and the third detection direction,
The second reflection plate is located at a position deviated from an optical path of detection light emitted from the second optical sensor in the third detection direction, and emits light from the second optical sensor in the fourth detection direction. The detection light projected from the second optical sensor in the fourth detection direction in the traveling direction is less than 90 ° with respect to the bogie upper direction. transport vehicle according to claim 1 or 2, reflected in the direction inclined at an angle. The transporting vehicle according to claim 3, wherein the second optical sensor is configured to change a direction in which the detection light is emitted to the third detection direction and the fourth detection direction. A control unit that controls the traveling unit so as to stop the traveling unit in a state where the support unit is located directly below the pallet;
The optical sensor of the first detection device, as a first optical sensor,
The controller, when the traveling unit is traveling in the first traveling direction, reduces the traveling speed of the traveling unit in response to the pallet being detected by the first optical sensor, The carrier according to claim 3 or 4 , wherein the traveling unit is stopped in response to the detection of the pallet by the two-light sensor. The transporting trolley according to any one of claims 1 to 5 , wherein the reflection plate is configured to be capable of changing an inclination angle with respect to the upward direction of the trolley. The reflector, transporting carriage according to any one of detachably claim 1, which consists 6 relative to the traveling unit.

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